Nope. Sometimes I'll give them a bowl of tuna leavings after I make a sandwich, but that's about it. My husband thinks it's gross. I don't really care. I don't think to let them lick the plates. I don't intend to ever offer it.
Generally the only time I let them lick the plates is if I just cut something up for them (hot dogs, food roll, etc.). Yes, I use regular human plates for that
They have actually gotten really good about letting me have my space when I'm preparing things because they know if they just sit there they MIGHT get a piece of something or get to lick a plate/spoon.