Usually not. Johns Hopkins Medicine says most neurofibromas, which are benign tumors that grow on nerves, do not hurt or cause problems, although some itch or become painful. Small ones on or just under the skin typically cause little more than itching or tenderness.
Pain is more likely when a neurofibroma grows inside a muscle, on a nerve leaving the spine, or as a large plexiform tumor that presses on nerves or organs. A neurofibroma that becomes painful, changes in size, color, or texture, or comes with new numbness or weakness should be checked by a doctor, because plexiform neurofibromas can occasionally turn cancerous.
Source: Johns Hopkins Medicine, Neurofibroma
Image: Neurofibroma, intermed. mag.jpg by CoRus13, CC BY-SA 4.0, via Wikimedia Commons.