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Do you mean something in addition to musical notation? Music is written both for accompaniment and also for singing, and in the same notation. If you get music for choirs to sing (for example) each part (Soprano, Alto, Tenor, Bass) is notated appropriately. The composer can use whatever he chooses to annotate these parts though there is always room for interpretation. I don't think there is anything specificly different for singing compared with any other music. Really modern musical notation is built on more ancient notations developed by monks for plainsong etc. so was primarily invented for voice rather than instrumentation.
Michael Buble ... sheet music