Does Snoopy ever talk or do we only see his thoughts in the comic strip?

I pulled up several comic strips that show only the thought balloons for Snoopy, even when he is conversing with Woodstock.

Examples:

https://jennthebenn.wordpress.com/category/greatest-peanuts-strips/

Woodstock quickly became Snoopy's best friend. The only non-avian character who can understand Woodstock's language is Snoopy. This is because his speech is rendered entirely in "chicken scratch" marks; Snoopy usually ends up translating them for the benefit of the reader. There are exceptions to this however, such as an "X" appearing in the talk bubble to represent No, and Woodstock does make verbal noises such as yawns (November 23rd, 1972), laughter, sighs (November 22nd, 1972) and sleeping noises like "Z"s or snores. In the movies and TV specials, the chicken scratches are rendered audibly as a staccato series of Scat singing by Snoopy's voice actor, Bill Melendez. Woodstock often works as Snoopy's secretary (most notably when the latter was appointed "Head Beagle"), and caddies for him when he plays golf (usually with some difficulty).

https://en.wikipedia.org/wiki/Woodstock_(Peanuts)

If you count spoken thoughts - then yes. Voiced by Robert Towers:

https://www.youtube.com/watch?v=JEBFdHJIl-Y