Sure. There are formulas, but I like the "hands on" approach.
One way to find out is to time how long it takes a star near the celestial equator to drift across the center of your eyepiece field of view. This will be different for each eyepiece because each eyepiece has different magnification and therefore a different field of view. Furthermore, two eyepieces of the same magnification may have different designs and therefore different fields of view.
So, set up your scope and aim at a star you can see well and that is near the celestial equator.
Position the star near the edge of the field of view and then watch it drift through the eyepiece's field of view. If your scope has a motor drive, you can use it to aim the scope, but then turn off the RA drive while you're timing the star moving across the field of view. Do this until you get the star drifting right across the center of the field of view. Once you have it going right across the center, time it with a stopwatch several times, then average the times.
The background star field drifts at 360 degrees per 24 hours, or 15 degrees per hour. If it took one minute for the star to drift across the field in a given eyepiece, then it would have a field of view of 1/4 degree (15 degrees per hour divided by 60 minutes per hour = 1/4 degree per minute). Similarly, if you used an eyepiece of the same design but twice the magnification the field of view would be half that, or 1/8 degree. You can convert from degrees to arc-seconds by multiplying by 3600 (60 arc minutes per degree times 60 arc seconds per arc minute).
There's a little math any way you go!
The other formula requires you to know or to measure the field stop of the eyepiece and that measurement could be less accurate than timing the star crossing the field of view.
Once you know the size of your field of view, you can estimate the size of objects you view with it, or you can determine which eyepiece to use for a given size object.