Basics (1) - S2-E26
Plot hole: The Voyager was continuously attacked by small Kazon attack ships. Yet the Captain never orders to increase the warp speed to evade them (In previous episodes we saw that the Voyager has much higher max speed than any ship in the Kazon arsenal). They simply travel at a lousy Warp 2 and wait to be attacked. It would make sense to travel slowly if they were trying to avoid being detected by Kazon but that was not the case. They were attacked constantly. Voyager may be more maneuverable at slower speeds but if you can outrun your pursuers there is no need to maneuver to avoid them. Also, if Voyager was traveling at a higher Warp Speed, there would be no way for the Kazon to array fighter craft ahead of Voyager as they would not be able to overtake Voyager. If they could, there would be no reason to deploy the fighter ships, they could simply engage with their capital ships.
Answer: If you include the original Star Trek series (1966) then there are several. The communicators used in the original series were before (and said to inspire) mobile phones. We currently do have teleportation technology but it currently only works on things the size of a few molecules. A "Cloaking device" also exists; it's a fabric that bends light through it, though it currently only works in infra-red. The Hypospray is real and was patented in 1960 - six years before the original series aired - it's actually called the Jet Injector. Faster Than Light travel is still a few decades off, but there are several real-world theories that look promising, including one that is remarkably similar to the method used in the Star Trek Universe called the Alcubeierre Drive that involves manipulating spacetime ahead and behind the ship and the ship "riding" it. Medical techniques and technologies have also advanced considerably; prosthetics particularity and we routinely have robots performing surgeries where absolute precision is needed. The "Shield" used in the series have a few primitive versions around. The Phasers used in the series are used but are not very powerful (nor will they ever be as powerful as the Star Trek version the laws of physics gets in the way) but rail-guns (using magnets to spin then propel a projectile) and particle accelerators like the Large Hadron Collider have been around for a while. The Replicator would require a nuclear fusion reactor and a nuclear fission reactor in something the size of a large oven and the Holo-deck wouldn't work at all based on our current understanding of physics so those are both still science fiction at the moment, but who knows!
Sanguis