Yes you can modify them ...
Colors in what way?
You'd need a some type of Adobe PDF editor. I have Adobe DC.
I have a few different tips on my youtube...for how to edit the part number quantity and things like that.
Colors are an issue, depending on how you want to do them. Currently they (Autodesk/Anark) are working on getting the colors to come through and the glass to be transparent. Right now black doesn't come thru.
I'll help you where I can, and share some of my custom templates. Make sure you have the newest ones that came with the SP1 / R2 update. They allow the color and smaller pdf sizes.
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Mike Davis