Their paws are “ticklish” in that they’re very sensitive, but tickling dogs is not going to make them laugh. Science says that laughing in primates evolved as a form of submission. That’s why children often giggle or grin when they get in trouble. Humans beings can learn to enjoy tickling because it tends to be associated with safe situations, like goofing around with friends and family. However, many humans don’t enjoy being tickled at all and will still laugh – what looks like enjoyment is actually submission.
Dogs are very social and have a myriad of appeasing gestures, but laughing is not one of them. When they are touched in slightly unpleasant ways they will often lick their lips, yawn, shake, lift a paw, turn away or even cower.
I think you’re much more likely to see a happy doggy grin by starting a game of tug. That’s where humans and dogs are on the same page again: playing with friends makes us all feel safe.