Not that I know of. I can think of only one solution that'll require you to get a static ip at only one of the 3 offices.
Lets say site B has static IPs and A and C have dynamic IPs.
You will be able to build tunnel from B to A
and from B to C
As far as vpn from A to C is concerned you will have to hairpin also known as U-pin that traffc via B
Googling for VPN hairpinning should give you steps on how to do it
Above solution only works provided you are able to lease a static ip at atleast one of the 3 locations.
Also, VPNs will come up only if A and C initiate the tunnel (because of dynamic IPs) but you can achieve this easily with running a continuous ping running from A as well as C towards B