If you're talking about the side of the Magsafe that plugs into the computer then no, it won't kill you. It's exactly the same as touching two or more connectors on that part of the adapter.
Yes, it's true that current kills you and not voltage, but 16.5V DC is not going to push even a fraction of an amp through the human body.
Now, if you're touching the wires on the other side of the power brick, that's 120V AC and it can kill you.