Yes, he tells the tale in TTT, but he doesn't want to tell them what happened to him after the threw down the Balrog. He only says something like: 'I was walking on fields far and distant.'
Well, after the Balrog was thrown of Gandalf also 'died' and he had to forsake his body. Quite likely it were the Ainur who send him back. The reason is quite obvious: he wasn't ready to come yet for Sauron was still active in ME. The Istari were send to aid the elves and the mortals against Sauron, and afterwards they could depart again. So Gandalf wasn't finished yet and he was send back.
So, yes, he did die and he was send back.
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'You?' cried Frodo.
'Yes, I, Gandalf the Grey,' said the wizard solemnly. 'There are many powers in the world, for good or for evil. Some are greater than I am. Against some I have not yet been measured. But my time is coming.'
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