The short answer is no. Soace isn't actually 'empty' and the answer has nothing to do with cosmic radiation. It has to do with kinetic energy. Particles will strike your 'object' and impart kinetic energy which will generate 'heat' due to friction basically. 'Barrier' levels are hard to meet. I.E. you need a lot if energy to heat water from 1 degree Celsius to 99 degrees Celsius. You need a lot more to actually make water boil and reach 100.