I'm not sure this is what you are looking for as it isn't in the print driver, but according to this page, Adobe Acrobat can do it. From that webpage:
Click the "Tools" drop-down menu and select "Pages" to view a list of
options. Highlight the "Header & Footer" listing, and select "Add
Header & Footer." This process will work for all Adobe Acrobat
programs (Standard, Pro and Suite).
Click once inside one of the six available header and footer
sections in which you want to add the page number. Click the "Insert
Page Number" button. This action will add the page number that
corresponds with the page's position within the PDF file in the
selected area. To begin page numbering on a page other than the first
page within the file, click the "Page Range Option" link, and select
the appropriate page.
Click the "File" menu, and select the "Print" option. Use the "Printer
Name" drop-down menu to select a printer from which to print the PDF
file. Click the "OK" button to print the Adobe Acrobat document with
the page numbers that you added. Save your changes.
There is also a YouTube video.