Yes there is a general way. Cut off frequency is one of the corner frequencies. Corner frequency is the value of the frequency at which the Bode magnitude plot changes its slope.
For a first order filter , let's take an example of a transfer function : T(s)= 1/(s+10)
For this : the corner frequency can be found using the the poles of the TF, for w= 10rad/s the Bode magnitude plot changes its value. So, the safest shortcut is to take the TF in time constant form (1+as) form then find corner frequency by taking inverse of coefficient of s, w= 1/a
Eg: T(s)= 5/(s+2) = 2.5/(0.5s+1)
Coefficient of s= 0.5, hence corner frequency , w = 1/0.5=2 rad/s
P.S. TF= transfer function =T(s)
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