Is there a way to specify row and column separators in
XSL FO for tables?

It seems as if the FO spec doesn't use either of the terms
"row separator" or "column separator". If you mean "border",
then yes, you can specify the appearance of borders in various
ways. Column borders may be specified on the fo:table-column
element, row borders can be specified on fo:table-row.
Depending on the processor you use, it may be more safe to
specify borders for table cells only.