There is no product I know of that offers this in plain view and integrated into TFS. It would be a great extension and I've personally requested this from the team that works in Codelens in the past. It may come in the future, but it's not there (yet).
I've created a UserVoice item to track this request just now.
Using the My Work feature to Suspend/Resume work would make it visible that there is a shelveset associated to a work item. It would make it a manual process and it's prone to failure, but at least it's a start.
Had your team worked with Branches or just committed the changes to source control, they would be visible to everyone. The Incoming Changes lens would even highlight these changes across branches.
It would not be too hard to create a script, and a bit harder to extend this into an Editor add-in using the Visual Studio SDK and the TFS Client Object Model, but a fully working version would be too broad a solution for the format used by StackOverflow.