The joke told by Tom made us ( laughing ) 不是 make sb do sth

make可以加宾补 make+O+OC宾补可有形容词,副词,非谓语（to do,省略to,doing,done)名词
介词短语充当如；make sb do sth make sb doing 强调动作的持续进行 make sth done
举个例子,his joke made us laugh说明笑话让我笑了
his joke made us laughing in class强调整节课都笑
再给你举个名词的吧 we made him monitor我们让他成为我们班长
he made the room clean 使房间干净

是的，结构是make sb do sth，后面不接ing形式的动词哈
望采纳

make sb adj也是make的用法喔。使某人怎样。。。而laughing是形容词，发笑的，可笑的。根据不同语境选择do还是adj~