Yes and no.
Horses do not lick socially anywhere near as much as dogs do, but some horses will lick an offered hand - possibly for affection and possibly just for the taste. Mares also lick their foals. Most horses nibble for mutual grooming, rather than licking. (Unlike dogs they do not have sharp canines that might damage their grooming partner).
Horses that lick are a small minority, though. Most will not. If they do lick you, it's very slobbery - but then, horse slobber is an occupational hazard.