Not that I know of.
It’s my standard practice to identify each layer with a graphic text object showing the layer’s identity. I place this outside the board outline but near the working area - usually below, or on the left side, of the working area. Once upon a time many of the board fabricators asked you to do this as a way to reduce the possibility of errors or confusion when the layer was displayed in a Gerber viewer.
Dale
p.s. - And I always use the “Plot” feature to make PDF’s. Back when I started using KiCAD there was a problem getting decent images with “Print”, but no problem with “Plot”. I don’t recall the symptoms, and it may have been a faulty printer driver rather than KiCAD itself, but I’ve stuck with “Plot” ever since.