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Maybe.
Human eye angular resolution is about 1 arc minute = 0.02 deg. That's about 0.3 m at 1 km or 3.6 m at the 12 km cruising altitude of a B2 Spirit. Its length is 21 m and wingspan is 52 m but I would suggest we use 20 m as an estimate. So we should be able to see it, in ideal conditions for a perfect eye.
As for an ICBM? Almost certainly not unless you're in the right place to see it's exhaust on its way up.
hamrack
Would long range bombers or ICBMs flying overhead be visible from ground level?