If we wanted to know if a particular domain has had SSL certificates issued to it by CAs in the past, that are now revoked/expired, is there is a resource that has that information?
Firstly, from a privacy point of view:
This being said, assuming that this is about a host that's publicly visible, you may be able to query the notaries used by systems like Convergence to help you find a number of certificates that may have been valid for a host name, but not necessarily all of them.
It's still possible to have multiple certificates, from multiple CAs (commercial or internal), all valid at the same time. The fact that one users sees a valid certificate from a particular CA doesn't mean that another won't see another certificate, also valid, from the same or another CA. This can happen on large sites (that would use DNS load-balancing, for example), as illustrated in this Security.SE question.
In addition, anyone ca issue a certificate for any host. I can issue a certificate for