You could consider using PDFObject by Philip Hutchison.
Alternatively, if you're looking for a non-Javascript solution, you could use markup like this:
<object data="myfile.pdf" type="application/pdf" width="100%" height="100%">
<p>Alternative text - include a link <a href="myfile.pdf">to the PDF!</a></p>
</object>
PDF.js is an HTML5 technology experiment that explores building a faithful and efficient Portable Document Format (PDF) renderer without native code assistance. It is community-driven and supported by Mozilla Labs.
Be sure to test any solution across different Reader preferences. A site visitor may have their browser set to open the PDF in Reader/Acrobat as opposed to the browser, e.g., by disabling the Acrobat plugin in Firefox..
I can't be sure of my results, because I have two different Acrobat plugins that Firefox recognizes due to my having different versions of Adobe Acrobat and Adobe Reader, but it does appear that you at least need to test what happens if a website visitor has their browser set to not open the PDF in the browser. It could be quite annoying when they look at what appears to be an otherwise usable web page and their browser is nagging them to open a PDF file that they think they didn't request. In some cases, the PDF file spontaneously opened in Adobe Reader, not the browser, and in other cases the browser threw up a dialog saying the file didn't exist.
I ran into such mismatches with iframe and object both, different issues for different code.
This is for simple HTML code. I haven't tried the suggested frameworks.
If I'm not mistaken, the OP was asking (although later accepted a .js solution) whether Google's embedded PDF display server will display a PDF on his own website.
pdf2htmlEX by coolwanglu is probably the best solution out there to convert a pdf file into html. You could do a simple convert and then embed the html page as an iframe or something similar.