Does Sanji ever learn Haki?

During his stay on Kamabakka Kingdom, Sanji has trained his Kenbunshoku Haki to become an advanced master of it due to being on a constantly careful watch for the harassment from the Okamas day and night who sought to steal his manhood.

How did Sanji get Haki?

By training with the people of Momoiro Island, Sanji was able to tap into the skill of Armament Haki at some point during the timeskip.