Unlike birds, we are simply not built to fly! We are too heavy and dense to be able to fly, and it is unlikely we would evolve this ability because it isn’t really advantageous.. apart from being pretty cool. We need some kind of mechanical assistance- like a jet pack sort of thing. These do exist though, so I suppose you could say we can already fly!
I think we will but I think it will be due to technology rather than evolution. Biological evolution takes millions of years and would have to be driven by an environmental change that made it advantageous to fly. The tech boom however, is driven by what we want rather than what we need to survive and is much much faster. It also has a huge focus on personal gadgets. I hope it’s not too long before jet pack style transport is available and affordable.