Yes, there is. It is done by naming convention in Scrivener, since it doesn’t support the more elaborate settings Word does for this. Styling your text as “Heading 1” will create a top level heading, “Heading 2” second level, and so forth. This will give your document a true outline, which will show up in Word’s navigator, and can be used to insert a ToC.
In order to integrate such a scheme into your compile settings, I have a little how-to on that, which includes a demonstration, which can be imported into your compile Format sidebar by drag and drop from the file manager. The demo itself probably isn’t of any use to you directly, but the checklist in that post shows how it was made, and how easy it would be replicate that procedure into your existing design.
Also, make sure you are on the latest version of Scrivener. We did find some issues with heading outline support that were recently fixed in the Mac version.