Yes. They kissed in TOW The Flashback when he was depressed over his failed marriage to Carol (He'd just found out she was a lesbian). And that kiss WAS canon - the only kiss that wasn't canon in that episode was the Rachel/Chandler one.
They also shared a very quick New Year's kiss in TOW All The Resolutions
She has kissed Joey, Chandler and Ross. She kissed Joey and Chandler in episodes that were related to the main story whereas for Ross, she and him kissed in an episode that was sort of a deviation from the main storyline, a non-canon kiss if tu will :)
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In fact, everyone of the girls has kissed every boy at least one time (even Monica and Ross have kissed when they were in high school and he though the girl he was going to kiss was Rachel :D)
Ross and Pheobe did kiss in the episode with the flash back. Pheobe has kissed all the guys. Ross has kissed all the girls. Rachael has kissed all the guys. Joey has kissed Rachael and Pheobe. Monica has kissed Chandler and has had a kiss frrom Ross. Chandler has kissed Monica and Pheobe.
