As long as you remember to lick the back of the stamp and not the front, you should be OK.

Unless of course, you lick on average 100,000 older yellow or orange stamps every year...

Fortunately, there are not that many yellow/orange US postage stamps, so I should still be OK doing all the licking for my mailing lists.

Yes, you are right Rileysan; lead/chromate-based pigments are bad news, and as far as I know, are no longer used in modern stamp production -- but don't hold me to that. That is why you don't see these types of color changelings on modern stamps.
I don't know what is used to produce the yellow and orange ink these days. I'm old school. If it isn't carcinogenic, then it's not worth using or eating...