At this point I don't want to explain my personal crackpot theories on how names for numbers emerged and I assume that anything remotely connected with the origin of language is highly speculative and hard if not impossible being researched empirically. Nethertheless, centuries of speculation might have culminated into a few theories which might be considered an educated guess or even more.
Here I limit the theories onto the origin of the names for numerals, what probably doesn't make it much easier.