The latest slicer I'm using now supports 3D text both embossed and engraved. Under the advanced drop down there are two options to turn on - use surface and per glyph. Use surface lets you put the text on non flat surfaces and per glyph aligns each letter on the surface - try it and you will see what I mean - it's kind hard to explain. This slicer supports lots of printers not just the prusa ones. It's free Prusa Slicer 2.7.1 - https://www.prusa3d.com/page/prusaslicer_424/
