This was called catharsis by the ancient Greeks. They used it in their tragic works. I assume that you've already known this, but I want to stress on this term because I find it important in this topic.
It depends on how much I like the character. If I hate them, especially if I think they deserve it, then yes, I find it very satisfying. If I like them, no, it literally hurts me if the plot or character development requires me to make them suffer. If I'm indifferent to them, I don't feel anything either way.
I love making the antagonist suffer. My MC is full of angst, and I enjoy writing what's going on in his head psychologically, but not what got him there. ETA: My alpha readers tend to really like him, so giving even a whiff of enjoying putting him through hell would probably get my own head delivered on a platter!