In Return of the Jedi, there's a garbage bin droid having his feet branded in Jabba's palace. It sounds like it's screaming in fear of pain, and makes more pained noises as the hot irons touch it's feet.
Was the droid actually feeling pain1?
1. "Pain is an unpleasant sensory and emotional experience associated with actual or potential tissue damage, or described in terms of such damage." Meaning, pain is not merely a recording or acknowledgement of sensory input, but must be processed as unpleasant. Other definitions of pain may exist, but they're outside the scope of this question.
Answer
C-3PO offers good canon answers - he can feel both pleasure and pain
Pleasure
A New Hope: C-3PO says "thank the maker, this oil bath is going to feel so good"
http://starwars.wikia.com/wiki/Oil_bath
Pain
Empire Strikes Back: C-3PO exclaims "Ouch! Oh! Ah! That hurt, Bend down, you thoughtless...Ow!" when Chewie bonks 3PO's head on the Falcon whilst being carried on Chewie's back.
9:40 in the clip:
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