There is, however, vinyl paint, which is formulated to work on flexible surfaces and comes in various interior colors. I get mine from FMC Truck. But you can probably get it from Amazon or any number of online sources. A little sanding or surface prep, clean and paint. It won't cover deep gouges, but there are other ways to do that. Look for some YouTube videos on it.
Nothing is ever going to make it perfect again, and plain old wear and tear makes it inevitable on any vehicle that actually gets used in real world conditions. If the scratch is in the cargo area, I'd just leave it. If it's on the dash, replacement is likely the only real solution. That won't be cheap.