Not without the proper licenses. These include (but are not necessarily limited to) mechanical, synchronization, and public performance licenses. Karaoke is treated similarly to covers in regards to licensing.
If you are using any sort of karaoke software, service, or game, you should check the EULA (End-User License Agreement). If you are unsure -- contact them. Reach out to them via email, their websites, or Twitter. If you do not know if the proper licenses are in place, err on the side of caution and do not stream this content.
Twitch specifically addresses karaoke in its Terms of Service, stating that outside of specific karaoke games it is not permitted on the platform.
In September 2020, Twitch made the decision to close their popular karaoke game, Twitch Sings. As of December 1, Twitch will remove any Twitch Sings videos and clips from the platform, and on January 1, 2021 the game will cease to work.