Is it safe to Drive while steering wheel vibrates?

Not surprisingly, it depends, if the steering wheel vibrates all the time, no. IT could be a whole bunch of things. If it just vibrates at a certain speed range, roughly 50 to 70 mph, it is probably the tracking on your tires (or at least that's worth checking as it is a cheap procedure).

Either way, if it makes you feel unsafe whilst driving the car, then don't drive it.