I've been plugging my fleet of diesel trucks in every day of every winter for the past 15 years without any problems.
BUT it is reasonable to take some sensible safety measures. First, use a heavy duty extention cord, and don't use one that is longer than it needs to be, and don't use a low amp (10amp) cord. Spend the extra $3 or $4 and get a 13amp or a 15 amp cord, the shorter the better. And throw away any cord that you damage in any way. We change our cords every few years and I think that is cheap insurance against any problems. Don't plug a good cord into a damaged receptical.
MOST fires related to block heaters are caused by frayed cords, hot cords, damaged recepticals, electrical overloads, and every one of those things is easily avoidable if you use some common sense.