Not a built in method, but an implementation. (It could be done without the split though).
String[] arr=str.Split('-');
byte[] array=new byte[arr.Length];
for(int i=0; i<arr.Length; i++) array[i]=Convert.ToByte(arr[i],16);
Method without Split: (Makes many assumptions about string format)
int length=(s.Length+1)/3;
byte[] arr1=new byte[length];
for (int i = 0; i < length; i++)
arr1[i] = Convert.ToByte(s.Substring(3 * i, 2), 16);
And one more method, without either split or substrings. You may get shot if you commit this to source control though. I take no responsibility for such health problems.
int length=(s.Length+1)/3;
byte[] arr1=new byte[length];
for (int i = 0; i < length; i++)
{
char sixteen = s[3 * i];
if (sixteen > '9') sixteen = (char)(sixteen - 'A' + 10);
else sixteen -= '0';
char ones = s[3 * i + 1];
if (ones > '9') ones = (char)(ones - 'A' + 10);
else ones -= '0';
arr1[i] = (byte)(16*sixteen+ones);
}
(basically implementing base16 conversion on two chars)