From all the books I've read the answer is: NO
The general consensus - at least at this point in time is that you must lift heavier and heavier weights to failure, to grow beyond a certain size.
Solutions for the lifter. Bench Press is not needed to build a big defined chest, it can be achieved equally as easy with Dumbells: doing flys and chest presses. These you can work to absolute failure, because they won't crush you when your arms give out haha. You just drop the dumbells to the floor.
For Squats, the best solution is to work inside a weight cage (has a crossbar on each side that stops the weight at a designated point) so if you can't push it back up, you just slide out from under it.
If you can't lift your arms in the shower to wash your hair after an upper body workout - then you have lifted to failure
Cheers