This worked for me:
right click on the device, then select 'add device to provisioning profile'
For Xcode 6 it is a little different.
After adding the device UDID in the developer site (https://developer.apple.com/account/ios/device/deviceList.action), go back to Xcode.
Xcode -> Preferences -> Accounts Select the Apple ID you added the device under and in the bottom right, click "View Details..."
Hit the refresh icon on the bottom left and then try to run the app again.
Per May 16th 2013, using XCode 4.6.2, I had to do the following to add a device (which I do not have physical access to) to the team provisioning profile:
Sometimes it takes a while before the certificate is updated and fetched from XCode.
Hope this helps new readers.
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