It is well known that for the area of a triangle $A$ we have $$ A=r\cdot s,$$ where $s$ is the semiperimeter, and $r$ is the radius of the inscribed circle.
Is there an analogue for the higher-dimensional case. In other words, can I express the volume of a $d$-simplex in terms of the radius of its inscribed sphere and the volume of its boundary? If such a formula exists, what are the references?