AFAIK there is no built-in way to do this.
You might want to look into macro software such as Keyboard Maestro. It allows you to switch to a certain application by hotkey and then you can select from the open windows.
Once you install Keyboard Maestro, the built-in hotkey for cycling between windows of the same application is Ctrl-Tab.
Other than that you might want to create Apple Scripts that activate a certain window and then assign hotkeys to the apple script using Keyboard Maestro. For ideas on Apple Script, look here: https://stackoverflow.com/questions/3655502/applescript-activate-window-of-a-non-scriptable-application
There appears a way to switch to a certain tab in Chrome, Firefox should not be any different: Switch between Google Chrome Tabs using AppleScript
Alternatives to KM are iKey, QuicKeys and there must be others. (KM is the one I use for Mac macros, I have no financial interest in it.)
You could use AppleScripts to for example click the first item on the right side of the Dock. See Keyboard shortcut to unhide or unminimize a window in OS X.
– Lri – 2012-04-18T16:49:55.547