Wherabouts is it. Front and rear bumpers are plastic but there is a load of impact resistant/sound deadening foam which makes repairs harder.
Is the plastic painted to the cars colour or just raw? If raw I don't think an invisible repair would be possible.
Drill a small hole, pull out the dent, you may need to inject some filler behind the hole (keeping tension on the pulling of the dent - a screw in a piece of wood is probably enough and will allow the filler to harden).
Use a hot air gun to soften the plastic, most plastics have a memory and will pop out but there is a risk of scortching or melting causing a bigger problem.