I touched an end of a phone charger when it was warm right out of the outlet can this cause radiation?

No but phone does: While a phone charger will emit an EMF (electromagnetic field), touching it doesn't make much difference. I'm much more concerned about the radiation emitted from your cell phone (or wireless land line) whenever it is on. This is controversial and no one knows for sure to what degree EMF's from phones affect health but it is wise to limit exposure. See http://tinyurl.com/jwvphjp for a discussion.