Not on actual cars but I have seen this used on moulds/tooling before. The ice sublimates as it makes impact and only leaves a wet surface behind so there is no real residue apart from the water. Its used on sensitive steel surfaces so the abrasion is low, but not sure how it would affect plastic and the softer items in the engine bay.
It's also not cheap so perhaps get some info from the companies before going this route. There are companies locally that do this such as Dry Ice International so perhaps give them a ring.