If you look at the driving causes of domestication in animals, it's typically the fact that surviving is no challenge — e.g. food and shelter are easy to come by, danger is rare, and there's little need to fight with other animals or those of the same species.

Following this, I'd think that the same conditions would domesticate humans. There's no reason it wouldn't; there's little value for aggressive behavior in a world where aggressiveness simply isn't necessary (and possibly even looked down upon).