Not to my knowledge-however, they do have a laundry service onboard. Check in your stateroom for the forms to fill out. Mariner did a wonderful job with cleaning and pressing clothing; I can only assume that Adventure or Serenade would have the same.
I have never seen a washer and dryer on any ship not to say they are not there, but, when I am on vacation I am not looking to find one. I use the onboard service. It only costs a little $ and they do a great job, they deliver it back to the room, and I get to keep enjoying the cruise. I suggest you try that approach.
Sorry, no washer or dryer on any RCCL ship for you to use. If you need to wash something and have a balcony you can wash it in the bathroom sink or the shower and it will dry in a couple of hours, providing you have sun on your balcony. We always pack too much and end up bringing some clean clothes bach home with us.