In theory there could be a bug in the browser that makes it possible to craft a special cookie that somehow fools the browser to run it, e.g. by causing a buffer overflow. Such a bug is quite unlikely in a major browser, and if you could find one it would be considered a big deal.
You can put any text strings into a cookie, so in theory you could put some kind of code there. But for code to do any harm something needs to run it. The web browser does not interpret the content of cookies as code and does not try to run it, so cookies should not be dangerous. (If you have heard cookies being referenced in security related discussions, it is probably in relation to privacy and not viruses.)
So I would not worry about cookies infecting me with a virus. However it is possible to be infected by malware from just visiting a website. This is called "drive by downloads" and is nowadays a common method to spread viruses. The vector that is exploited for this is generally not cookies though, but plugins like Java or Flash.
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