Not really, no. Did some digging, seems like this syntax should work: Checkboxes and radio buttons in forms - #2 by Dennis
For your form that would look like this:
<fieldset>
<p>
<label>
<input type="radio" name="color" value="red"> Red
</label>
</p>
<p>
<label>
<input type="radio" name="color" value="green"> Green
</label>
</p>
<p>
<label>
<input type="radio" name="color" value="blue"> Blue
</label>
</p>
</fieldset>