Only thing I've ever seen is a photo of them doing some light work in the ring without gloves. You can find it on Google easily. I don't think there's any footage.
The photo is all I’ve seen, aside from Foreman’s personal recollections. I have read the Nick Tosches book, The Devil & Sonny Liston, but it was so long ago I couldn’t tell you if that makes mention of it.
Found some big news, was floating around another forum looking for how George spoke of Liston and found this “Hi Rexob Years ago I spoke to George and he confirmed that there is footage 'floating around somewhere' of him and Sonny sparring. In my collecting years I haven't come across it so it may in the Foreman vaults along with his tenderloin steaks!”
Tracking down old boxing footage is like hunting for dinosaur fossils. The information is so scattered, but every little bit tells a big story and captures the imagination. I remember when some short clips of Frazier sparring with Norton were released a few years ago and got over 100k views! It at least gave us some idea on how they'd approach each other in a match.