The canon page for the TS-E 24mm f/3.5L II names the Extension Tube EF 12 II as an "Supplies & Accessories" option.
and the "compatible products" link names all but the 17mm TS-E lens.
My apologies - you wrote "Kenko extension tube" and I read Kenko extender (aka teleconverter). Sorry for the confusion!
Pretty much any extension tube is physically compatible with pretty much any lens - an extension tube is just a hollow tube filled with air, and most have pass-through electrical contacts.
The compatibility issue with tubes comes from the fact that they increase magnification by decreasing the minimum focus distance, which also means a decreased working distance (distance from front element to subject). The added magnification is the ratio of focal length / tube length. With a longer tube on a shorter lens, it's possible that the MFD is reduced to the point where it's actually behind
the front element, meaning you can't focus on the subject at all. That's why you can't use the EF 12 tube with the TS-E 17mm.
Since the Kenko tubes come as a set, you'll be able to use the shorter one(s) with the TS-E 24mm, but not the 36mm tube, and not with them stacked as you can with longer lenses.