It sounds like you are starting early so paint may be a viable option; however, make sure the paint has enough time to fully dry and that there are no globs of paint that could smear onto other robots. Embroidery sounds like quite the project (at least 8 different sets of numbers), but if you have the time then you could definitely go for it. Keep in mind the requirements for the numbers:
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consist of numerals at least 4 in. high, at least 1⁄2 in. in stroke width, and be either white in color or outlined in white
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Personally, our team uses iron-on/patch numbers and then stitch them on. Do not get peel and stick numbers as they will rub off during a competition.
Hope the bumper process goes well!