Yes - Rachmaninoff did compose 4-hand, 1-piano music. It's his opus 11, a set of 6 pieces (which is 4-5 minutes each). I never heard all of them except for No. 5 ("Romance" in C minor) which you can listen at http://www.classicalarchives.com
- just look for Rachmaninoff. Anyway, all of these six pieces you can find at http://www.piano.ru/rah.html
For some more recommendation, I suggest "Qui Vive" by Ganz (op.12). I always play it with my teacher as it's the only 4-hand repertoire we have.
I don't recommend the popular "La Grace" (if you have heard it) as it's very boring in my opinion.