There is a quick way that will give you a ballpark figure.
check the size of the fuse on the amp, multiply it by 12(for 12v), then half it and divide it by the number of channels and that will give you about the correct figure. ie.
Example...
4 channel amp with a 30amp fuse. 30 x 12 = 360w /2 (this assumes that your amp is 50% efficient, some are more) = 180w divided by 4 (no of channels) gives 45w rms per channel
I know it is not perfect but it can be quite close.