No — cooked bones splinter and can kill.
Cooking makes bones brittle. They splinter into sharp shards that can tear the mouth, throat, stomach, and intestines. Raw bones (under supervision) are a different conversation — cooked bones of any kind belong in the trash, secured away from dogs.
If your dog already ate this, don't wait for symptoms — call your vet now, or the ASPCA Poison Control line at (888) 426-4435. Note what and how much was eaten.
Get the printable list of the 30 most dangerous foods for dogs.