Yes. You may file jointly a resident 1040 return. You have been in the US long enough to pass the substantial presence test. There is an option when you file your 1040 return whereas you can declare your non-resident spouse as a resident alien for filing purposes. This option is available as you enter information about your spouse in the return.
Leave blank where it asks for the Social Security number for your spouse since you don't have Social Security number or an ITIN. Your return then generate a statement that you have declared your spouse as a resident alien for tax purposes and your making this a first-year election.
Once you return is complete, you will need to print and mail your return because of the lack of a social security number or ITIN. Don't choose the option to file electronically because you won't be able to without a valid TIN for your spouse. You will receive complete filing and mailing instructions with your return when you have completed it and ready to file.
You may now take your printed return to the immigration specialists that will then issue your spouse a ITIN.
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