Unfortunately, we do not have any extensions that create PDFs on the server side from dynamic data, so you'd have to have some PDF generating software on your server.
There are some libraries for PHP that you might be able to use (search Google for PHP and PDF to see some examples, I do not have any particular suggegstions as I've not used any of them as yet. For ColdFusion, if you have CF7 and above, I believe that there is some PDF gneration capabilities built in. I've only seen custom components for ASP, but I've not aware of any hosts that have them installed for general usage by. There may be some, I'm not aware of any.
If you serer has access to PDF generation, then you'll need to work with what that software can do. It's possible that some of them may have some label support available, but if not, you'd have to figure out how to format your data to fit so that the PDF would print exactly onto the labels, which is not a task that I'd relish.