I wouldn't risk it. Pure silicone is very heat-resistant, but silicone mixes
, like TPR silicone, often only have a teeny-tiny amount of silicone in them and aren't nearly as durable. It might be okay, but at the same time don't be surprised if it melts.
If you want to try it, I'd say make sure that it's either not a favorite toy, or at least one that's inexpensive to replace, just in case.