The easiest is probably to draw a model of a rounded cube in one of the many 3D modeling programs around (e.g., Maya, Blender), and load 27 instances of the model in your code. Learning to use a program like one of these isn't trivial though, so even though this is the general approach used in most games and such, for something this simple it may be kind of overkill -- it may take longer to figure out how to accomplish anything in the program, than it would have to do things a different way.
The obvious alternative would be to generate a the model in your code. The basic idea is fairly simple, though getting it all put together may be somewhat non-trivial. You start by picking the radius you want to use for the corners. When you generate your faces, you leave enough space between them to fit in a quadrant of a circle with that radius (i.e., each face ends one radius short of where they two would intersect). You connect them with a set of vertex coordinates/normals that follow a quadrant of a circle -- basically, write a small loop that generates a few dozen points (or so) at evenly spaced angles. The angle at each point will be the normal, and the sine/cosine will give the coordinates. At the corners (as opposed to the edges) you need to generate points on a sphere, with one quadrant of a sphere for each corner.