(1) Use a function.
(2) You can of course use an out parameter in conjunction with the above.

create or replace procedure p(p1 int, p2 int, p3 int, res out nocopy int) is
begin
  dbms_output.put_line('started');
  if coalesce(p1, p2, p3) is null then
    res := -1;
    return;
  end if;
  dbms_output.put_line('stopped');
end p;
/

declare
  res int;
begin
  p(null,null,null, res);
  dbms_output.put_line('Valid of res is ' || res);
end;

started
Valid of res is -1

I have to not just return. I have to return certain number, for example return -1 from stored procedure. Is it possible?

What about using exception handling instead? What I will do many times is use user defined exceptions if there is a limited number of of outcomes when I want the program to come to a halt and I need to send the results back up several levels. I believe, correct me if I am wrong, that the default action on an exception is to raise it if not handled. I agree with Chris here that in your case, a function would be the way to go. You actually have to tell the function what to return and it always has to return a value. If you hit your bad case, return -1 and your done. If you cannot use a function, then you might need to reconsider how your process is designed. Out Parameters are a good option as already mentioned especially for cases where you need to return multiple values as a function can only return either a single variable value or a static hard coded value.