I'm not that familiar with the Access file format, but judging from this you can export data from Access as XML. From there it should be fairly easy create PDF files with PDF::API2 or a similar module.

Update: While writing scripts is one of the best ways to learn Perl, you should have some basic knowledge about the language before you start. If you're completely new to Perl I'd follow cLive ;-)'s advice and pick up a copy of Learning Perl and read that first.

Hope this helps :).