Yep, you can get a Chaos Chao in Sonic Adventure 2: Battle! I'll tell you how to get one.
First, you need a Chao that has reincarnated at least 2 times (NOTE: This doesn't count for ages, just the "Times Transformed" thingy that the Chao Doctor says when he shows the chart for your Chao).
Once it has reincarnated twice, give it ONE of all 21 animals. Don't give it ANY Chaos Drives. You can feed your Chao, too.
Depending on who you raise your Chao with will depend on if it's going to be Hero, Neutral, or Dark.
To get an Angel Chaos Chao, raise it with the Hero Characters: Sonic, Tails, or Knuckles.
To get a Light Chao, raise it with both sides of characters. Make sure it doesn't turn Hero or Dark, just in between.
To get a Devil Chaos Chao, raise it with the Dark Characters: Shadow, Eggman, or Rouge.
When it evolves, it should be a Chaos Chao.