We consider the problem of downlink channel estimation for intelligent reflecting surface (IRS)-assisted millimeter Wave (mmWave) orthogonal frequency division multiplexing (OFDM) systems. By exploring the inherent sparse scattering characteristics of mmWave channels, we show that the received signals can be expressed as a low-rank third-order tensor that admits a tensor rank decomposition, also known as canonical polyadic decomposition (CPD). A structured CPD-based method is then developed to estimate the channel parameters. Our analysis reveals that the training overhead required by our proposed method is as low as <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mathcal {O}(U^{2})$ </tex-math></inline-formula> , where <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${U}$ </tex-math></inline-formula> denotes the sparsity of the cascade channel. Simulation results are provided to illustrate the efficiency of the proposed method.