Absolutely! It is not a bomb or a security threat. But don't blow it up like a balloon and board, it will be so strange and it won't open up to the authorities of the airport you carry. Let the security cameras figure it out and make the call. As far as I know, it's totally fine unless some jerk from the security staff is in the mood to play as he's having a rough day;)
So Yes! You can take condoms on a plane in your hand luggage. They’re fine.