The troposphere extends 30 miles (50 kilometers) from the surface of the planet. There's nothing that would let a human walk on clouds even with the aid of technology. ...

Can humans walk on clouds?

Clouds are just water vapour, they would put up very little resistance at all if you were to step onto one. So, outside of magic or technology, no, no way on Earth.

Can we touch the clouds?

Unfortunately, it does not feel like cotton balls or cotton candy, but most people have technically touched a cloud before. If you wanted to touch an airborne cloud, the best way to do this is either skydiving or in a hot air balloon, though I would not want to be stuck in a cloud while in a hot air balloon.