Not at this company. I was told "white people are crazy" by an african american coworker at a different company a few years back.

I guess that was racist humor. I just LOL'd, though. Maybe because I'm "crazy".

Do you think I should have brought it up with HR instead?

Mine does. We have people from a lot of different parts of the world, so there's plenty of opportunities for good fun.

The line between tasteless and tasteful humor is blurry.

By saying 'racist' humor, rather than 'humor about race,' you turned your question rhetorical.

However, humor about race, gender, age, etc can all be hilarious, even in an office.