Yes, joked is a Scrabble word!
...and is worth 17 points in Scrabble, and 19 points in Words with Friends
joked
Verb
1. Tell a joke; speak humorously
2. Act in a funny or teasing way
What Scrabble words can I make with the letters in joked?
4 Letter Words
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Words that can be created with an extra letter added to joked:
U:jouked