Assume the doll is about the size of a 50kg human.
Since we're mostly water, this means that the doll will contain about 50l helium.
Now, a litre of air weighs about 1.204g, whilst a litre of helium weighs about 0.178g. This means that for each l of helium, we can add 1.02g to put it back in equilibrium.
You'd have to fill it up to a fair bit beyond atmospheric pressure to get tension though, so you'd probably only get about 0.8g back.
So the answer is that if the blow-up doll weighs about 40g or less, then yes, it would float.