Can I find my stolen AirPods using serial number?

No, they cannot be tracked digitally via their serial number.

If they have been misplaced close by (near your iPhone) then you might be able to locate them.

Here's how it works

Find My can help you locate your missing AirPods. If you already set up Find My [device] with an iPhone, iPad, or iPod touch that you’re using with your AirPods, it's automatically enabled for your AirPods too. So if your AirPods are lost, out of their case, and somewhere close by, you can use Find My to find them again. If your AirPods are out of range of all of your devices, need to charge, or are in the AirPod Case, Find My can still help by showing the time and location where they were last connected.

source: How to find your lost AirPods - Apple Support

no, no apple product ever been able to be located by serial number

airpods does not have gps build in and only means to communicate is bluetooth which has a 50meter ish range

How to find your lost AirPods – Apple Support