ESD in the low 10s of A, yes. Duration is some tens of nanoseconds, nothing your body can respond to, electrochemically speaking, only the average effect many milliseconds later. You feel a little jump, or maybe a lot.
And yes, the resistance is that low. Two things: one, the voltage is high enough to pierce the skin, which has relatively high resistance. Two, the frequency is high, and skin and flesh has a high dielectric constant (it's mostly water), so the reactance is relatively low, and this carries current into and through the body as well. (The exact figure is a mixture of resistance and capacitance -- you're a lossy circuit.) If you hold onto a piece of metal and take the spark, the current distributes itself over your hand or whatever, and you don't feel it; but the electrical response is very much the same (with a small, extra sharp edge where the discharge strikes the metal bit), and those currents are indeed still passing through, or over, your body.
If you stick your DMM probes into your fingers I think you'll find it's quite a low lower than the surface resistance... if you're stupid enough to actually do that, but please don't, it hurts?
Incidentally, it's sometimes said that you can do this (take sparks while holding metal objects) with Tesla coils and the skin effect protects your insides; alas, this is false, as a simple calculation shows those frequencies (100s kHz) have no problem going all the way through you. For ESD, the average frequency content is in the 10s to 100s MHz, significantly higher -- enough that it may not go to your core, but it's still not something you want applied between corners of your body. Only by the GHz, is the skin depth shallow enough to begin to avoid vital parts -- think microwaving a roast on high power, only the outer inch or two is heated. Finally by several 10s of GHz, only the surface of the skin is affected -- as used by the military's ADS weapon for instance.
Tim