Yes, absolutely and without a problem.
Vantablack is effectively a black body, and it's at room temperature with no need for radiation protection or worries about an event horizon.
The thing is, a black body doesn't mean it emits no light. Instead, it absorbs all light and emits black-body radiation - a certain spectrum which depends only on its temperature.
A hot piece of iron in the foundry glows due to its black-body radiation.
A cat is at body temperature, which very close to that of people.
https://en.wikipedia.org/wiki/Black-body_radiation#Human-bod... works out that the peak wavelength for black-body light from humans is 9.50 µm - infrared.
Humans can't see infrared, and very little of the energy comes in the form of visible light.
So your hypothetical cat would look like a black shadow, but would purr and be no problem to pet.