Is there a way to record and playback a set of touches?
I've developed such an app called RepetiTouch. It's currently in beta stage and aimed at developers, but a limited free version is available here. However, it needs a rooted device running Android 2.3 or later.

As far as I know, currently no other app with this functionality exists, but there are some tools/scripts providing such features using a computer and an USB connection, e.g., here.

Anyway, I discourage any use of any such apps or tools for farming.