Yes!
I read the following commentary: 'John describes the heavenly worship in these terms: “The twenty-four elders fell down before the Lamb, each holding a harp, and with golden bowls of incense, which are the prayers of the saints” (Rev. 5:8). The angels also play a role in bringing our prayers to God: “The smoke of the incense rose with the prayers of the saints from the hand of the angel before God” (Rev. 8:4). If intercession among members of the body of Christ on earth is “good and it is acceptable in the sight of God our Savior” (1 Tim. 2:1–4), how would such behavior not also be pleasing to God in heaven?'
It was God that desired incense, it was He who desired to be worshipped this way.
“he shall burn incense on it, a perpetual incense before the LORD throughout your generations.”
The Gentiles will offer incense and pure offerings as prophecy.
'I have no pleasure in you, saith the Lord; and I will not accept your sacrifices at your hands: for, from the rising of the sun unto the going down of the same, My name has been glorified among the Gentiles, and in every place incense is offered to My name, and a pure offering: for My name is great among the Gentiles, saith the Lord: but ye profane it.' He then speaks of those Gentiles, namely us, who in every place offer sacrifices to Him, i.e., the bread of the Eucharist, and also the cup of the Eucharist, affirming both that we glorify His name, and that you profane . Justin Martyr 155 ad dialogue with Trypho the Jew
Catholics fulfilled this prophecy of Malachi.