Yes, there are a good number of examples. Here's the OTA update application note (with example iirc): AN97060 - PSoC® 4 BLE and PRoC™ BLE - Over-The-Air (OTA) Device Firmware Upgrade (DFU) Guide
Here is an example project for using FRAM to buffer the image before flashing the device:
I think my question was not clear. I want a Windows Application (which I want to implement in C#) and with this application I want to start the firmware upgrade. For me it is clear how I have to configure the PSoC4 that they is able for bootloading OTA. But my question is which steps I have to do in my Application to Start a Firmware upgrade and how I have to send the firmware data to the PSoC4 from my own Application.
There are some similar threads with development towards C# applications on the PC: CySmart API C# example
The second thread was before they added the cysmart app code to github as yssu posted, so getting the code from there is your best bet I think, or trying the first thread.