There is a firefox add-on called: search this site: https://addons.mozilla.org/af/firefox/addon/92023/search this site
I don't know if it's any good cause I never used it. I'm using similar extension on chrome (a https://chrome.google.com/extensions/detail/ampaaokifoiijaegiboaoncicpekfbdosimilar extension on chrome ) thought and it works flawlessly.
And you can always use google site feature just like John T suggested.