Yes, musescore which is also free (and open-source); you install it, open your midi file with it and it asks you for the note value (quarter note, eighth note, etc). The score is created automatically...
Hi, I know MidiIllustrator but it's a paid software (though, according to what I see, 40 euros isn't too bad). I only tested the demo once to get an accordion score and it worked very well, but I see that you can generate for any instrument.
You said it!