Did Samuel from the Bible have children?

Yes, Samuel did have sons.1 Samuel 8King James Version (KJV)

1 And it came to pass, when Samuel was old, that he made his sons judges over Israel.

2 Now the name of his firstborn was Joel; and the name of his second, Abiah: they were judges in Beersheba.

3 And his sons walked not in his ways, but turned aside after lucre, and took bribes, and perverted judgment.