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ICBMs no. They are in space until they re-enter at about 6km.s-1. The re-entry vehicle is about the size of domestic dust bin; if you can see it, start praying fast, you have less than a second before detonation and it is close enough to kill you.
High level bombers fly at airliner altitudes (~10km), you probably won't see the actual aircraft with the naked eye but you can see the contrails.
gbj_tester
Would long range bombers or ICBMs flying overhead be visible from ground level?