No browser currently exposes such APIs.
However, depending on the pen/digitizer drivers, the pen events might look to the browser like touch events, which many browsers have implemented. You can test this in Chrome and Firefox (via Firebug) with the monitorEvents function available in their consoles. Simple call:
monitorEvents(document);
In the console, then see if the browser captures the desired event. I tried this with my own Lenovo X200 tablet, but none of the non-standard events from my pen register (they all appear as mouse events).
I don't know of any third-party extensions that allow this, and a Google search doesn't turn up anything useful.