banter
noun
an exchange of light, playful, teasing remarks; good-natured raillery.
Used to describe actions that started in the past and continue into or have direct relevance to the present.
Examples are provided to illustrate real-world usage of words in context. Any opinions expressed do not reflect the views of Dictionary.com.
He has bantered with Big Bird on “Sesame Street.”
From New York Times ● Aug. 28, 2012