For writing Chrome extensions, you really need to know javascript since all the moving parts will be written in javascript. You would also have to know html and css.
For a good starting point, you should checkout the info tab of google-chrome-extensions tag.
There you find a good amount of information to get you started.
For Firefox Extensions, you can either create xul based extensions, or with the new addon-sdk. You can see a chart with a comparison here.
In both of them you have to know javascript as well.
About what browser you use, i can't really choose it for you, but i hope i gave you enough information to choose for yourself.