According to scientist/theologian, Emanuel Swedenborg, the answer is no!
How would he know about such arcane things? Swedenborg claimed that the Lord had opened his spiritual eyes so that he could see into the Spiritual World while still living in the physical body. He enjoyed this spiritual perception for almost three decades and wrote a shelf-full of books describing his rarefied experiences—not the least of which was a completely new systematic overhaul of Christian theology.
While he recorded that angels enjoyed unimaginable happiness in heaven, they never laughed. In fact, they were not even capable of laughter or telling jokes.
Swedenborg described laughter as inwardly consisting of an affection for truth. People on earth laugh because they recognize and appreciate a certain kind of “truth” or its opposite being communicated within a funny situation or joke. For instance, when someone slips on a banana peel it presents to us a logical and rational outcome of stepping on a slippery material and letting gravity do the rest.
However, laughter also includes a certain negative factor and element of contempt as well—like a person falling on his or her ass and getting hurt and humiliated. The mixture of both a perceived “truth” with a negative corporeal consequence is needed to produce worldly laughter. It is the second, negative element and disregard within human laughter that angels never experience. In the spiritual world people slip only because of making bad choices and decisions—there is no physical/corporeal element involved in such a slip (like a banana peel). So instead of laughter, angels can only show empathy and concern.
Simply put, angels lack the corporeal element and disdain arising from self-love that is needed to produce worldly laughter.
If you have any doubts about this I invite you to ponder what things have made you laugh in the past. You will find they contain an odd mixture of both truth and disdain. Jokes about politicians quickly come to mind…