it depends on the physical properties of the ester

Yes, of course.  The ester can be liquid and the reagents solid, as well as the opposite.  Also all of them can be solids or liquids.

It possible to obtain a solid ester after standard esterification of a solid compound e.g. e p-nitro benzoic acid is solid when you esterified with ethanol  using acid catalyst  then p-nitro ethyl benzoate obtained is also solid. 

Thank you all!

Yes it is possible. Assume that you reacted salicylic acid (which is a solid with some acidic strength) with liquid methanol using sulfuric acid as a catalyst, then the main product, after refluxing , will be methyl salicylate (which is a solid ester).