Can things be taken the wrong way online For example- you write something as a joke and it isn't taken that way- Why?

It is difficult to express and read emotion online due you can't hear how the Words are being said.
For example, if you heard me say, "hey, that's a cool car" you'd be able to know if really thought it was a cool car or if I thought it was a stupid and ugly car due to sarcastic undertones in my voice.
You cannot "hear" that online.