Is there a way to set any style for a specific browser in CSS?

It's very bad habit to apply css for specific browser. But there are solutions also:

Only Moz:

@-moz-document url-prefix(){
    body {
        color: #000;
    }
    div{
       margin:-4px;
    }
}

chome and safari:

@media screen and (-webkit-min-device-pixel-ratio:0) {
    body {
        color: #90f;
    }
}

Below IE9:

<!--[if IE 9]>
    body {
        background:red;
    }
<![endif]-->

I recommend don't use this moz, and safari prefix untill and unless necessary.

As far as I know, prefixes were added to properties when CSS3 was being implemented by different browsers, and just property wouldn't work so we'd use -prefix-property for certain properties like gradient or border-radius. Most of them work without the prefix now for most browsers, and the prefix system has been kept only for backward compatibility.

For example, if I want to change the margin only in Firefox could I simply add the prefix like so:

-moz-margin:-4px; margin: 1px;

This won't work. You can, however use different stylesheets for different browsers (say IE) in this manner:

<!--[if IE 6]>
    <link rel="stylesheet" type="text/css" href="iespecific.css" />
<![endif]-->

The browser-specific prefix version thing doesn't exist.

Hope this answers your question.

For example, if I want to set the corner radius in Webkit, Firefox and other than I can use the following CSS

No, that isn't how it works.

Vendor prefixed properties are used for experimental features. Either because the specification for the property hasn't been locked down or because the browser implementor knows their are problems with the implementation.

In general, you shouldn't use them in production code because they are experimental.

Support for the vendor prefixed versions is removed as support stabilises.

Is there a way to set any style for a specific browser in CSS?

There are several methods that have been used for that effect.

Parser bugs

By exploiting bugs or unsupported features in specific CSS engines (e.g. some versions of IE will ignore a * character on the front of a property name while other browsers will (correctly) discard the entire rule).

Conditional comments

Older versions of Internet Explorer supported an extended HTML comment syntax that could be used to add <link> or <style> elements specifically for certain versions of IE.

Support for this has been dropped.

JavaScript

Classes can be added to elements (typically the body element) using JavaScript after doing browser detection in JS.