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Hi There, I'm Clay a certified master automobile technician with 30 years of automotive repair and diagnostic experience.
The cams will turn when the belt tension is removed, you can turn them back into position and line up the marks. The engines valve springs close some valves and turn the cams. If the crank is aligned to its mark the number 1 and 4 pistons are at the top of their travel. The link below is the service procedure for the timing belt.
Timing Belt Service and Repair
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Did the timing belt come off with the engine running?
The crank turns twice for every one turn of the cams. When the crank is lined up to the mark the #1 and #4 pistons are at the top. When the crank is turned 360° the ***** *****nes back up and the #1 and #4 pistons are at the top again.
I would set the crank off of the mark by about 10° before top dead center and set the cams to their marks, then line up the crank.
If the engine was not running when the cams or crank turned there very little chance of valve damage unless the engine was forcibly turned.
If the engine was running when the belt came off you would have to remove the cams so all of the valves would be closed to be able to check compression or use a bore scope to look at the valves and the tops of the pistons for any damage.