Is it normal to get 16 mpg with a 2005 Camry?

Normal.

Check your air filter to see if it is dirty. If so, replace with a new one (or if you are using a reusable filter, properly clean and properly let air dry). Also check your tire pressure and make sure it's set to at least the tire psi rating on the door jamb (I constantly run max psi rating on the side wall of the tire [for those who will flame me for this, I have done it for over 4 years without a problem, and some police stations run max psi on their cars]) and if all that is within normal specs, have your alignment checked as it may be off, thereby causing more tire wear and friction (friction will slow your car down and make your engine work harder, which will use more gas).

camry is a good car.

If you're only doing stop and go driving it's not unusual. If you're stuck in traffic or sitting at at light you're getting 0 mpg. Just how closely are you checking it? ...