You don't specify what type of signals you are looking at, but if you can define what constitutes a "change" in a signal, then yes, you can do this.
If the change is a sudden shift in a DC level, then either:
1... Go thru each sample in the signal and compare each sample to the previous one. If the difference is greater than X, then remember this point in time. Do the same for the other channel, then subtract the times.
2.. Perform a differentiation on the signals, and look for the peaks (positive or negative). They will define your points of change.
If the signals change frequency, then perform a short FFT on part of the signals, and record the dominant peak. Move the section of data and perform another FFT , and look for a point where the dom
inant peak changes from one frequency to another. There are tools in the JTFA toolkit which simplify this process, if needed.
You need to specify what "change" you're looking for.