No, please don't take off your space helmet to try and hear the sounds of space.  1) These sounds are not heard by the naked human ear, and 2) You won't be able to breathe, your blood will boil, your spit will fizzle, blah blah blah until you die... So keep the helmet on!

Sound as we know it cannot travel through the airless vaccume of space. However, radio signals can. These are recordings captured by crafts equipped with plasma radio antennas which can pick up electromagnetic vibrations from various bodies in space. 

The following video contaians sounds from planets, moons, Saturn's rings, etc.