Everything radiates. Whether it's a car door, a pair of shoes or the cover of a book, anything hotter than absolute zero (i.e., pretty much everything) is constantly shedding radiation in the form of photons, the quantum particles of light.
A twin process—absorption—is usually also present. As photons carry away energy, passers-by from the environment can be absorbed to replenish it. When absorption and emission occur at the same rate, scientists say that an object is in equilibrium with its environment. This often means that object and environment share the same temperature.