Not right now, but the people at Spread Firefox is getting ready to launch the first Firefox TV commercial in Boston and San Francisco during the holiday season.
As explained in this post and previous others, some of the videos submitted for the Firefox Flicks contest will be chosen and aired on Comedy Central, ESPN, TNT, History Channel, USA, and MTV.

Mozilla is working with Spot Runner, the first Internet-based ad agency, to get the flicks ready for airing. For people outside of the broadcasting areas, the ads will be shared online for everybody to have a chance to see them. More details will be provided over the coming weeks, “including [..] how you can see your name on TV.”, concludes the post.