Yes, with the use of the
DynCustomText parameterFirst, you need to create a stamp template, using the stamp tool GUI, to place a dynamic text object, with a [C1] string in it, where do you want the text to appear in the PDF page(s). Create a stamp template like the exemplified at the first attached screenshot, and save it to a "C:\PDFStamps\DynamicCmdLine.stp" named file.
Now you just need to call the stamp tool from the command line, refer the saved template, and pass the text that will replace the [C1] reference.
"C:\Program Files (x86)\PDF-ShellTools\PDFShellTools.exe" stamp StampRules=1 -s Template=C:\PDFStamps\DynamicCmdLine.stp DynCustomText=World C:\PDFs\PDF1.pdf
If you call it without the -s parameter (or from the trial version, that doesn't support the run hidden option) you can see what will be stamped (second screenshot).