I found a PDF of the manual
here.
According to R35
Quote:
[R35] Teams shall display their team number on the Bumpers in four locations at approximately 90° intervals
around the perimeter of the Robot. The numerals must be at least 4 in. high, at least ¾ in. in stroke
width, and be either white in color or outlined in white. Team numbers must be clearly visible from a
distance of not less than 100 ft, so that judges, referees, and announcers can easily identify competing
Robots.
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Any color you want, as long as you have a white outline and meet the size and placement requirements.