Adobe Acrobat can easily number pages.
If you're working with Adobe Acrobat X here's how:
Either select "None" or rename it something else like "i", "A", etc.
Edit: This also depends on the software displaying it... I remember Foxit Reader when it was in its infancy and couldn't properly read Adobe's numbering. In Adobe Reader I could jump to any page number I wanted and it would be the correct page, while in Foxit Reader it was off by a few pages because of the cover, info pages, etc.
So yeah. If it doesn't work, I'm sure there's a plethora of other PDF readers in the Android Market.