Can Chimps be domesticated?

Using selective breeding, it would certainly be possible to produce friendlier chimps. You would simply breed the friendliest males and females in each generation, exactly as was done with the foxes you mention - over time, you end up with friendlier animals. However, this would take much longer with chimps than with foxes, for the simple reason that they breed much more slowly. A chimp has to be much older than a fox before it can breed, and the young take much longer to rear.