You could also try a laser like they do with some keyboard keycaps. I don’t know what the frequency of the laser is or if there is something about the plastic, though. Alternatively, I’ve seen a person who uses a special printer to put faces and clothing graphics on his alternative Lego accessories.
https://suntrixprinter.com/lego-printer/. Something like this for the white lettering and then the foils for something like hot stamp printing, they used to do all kinds of things like poker chips, plastic prize coins, etc etc with something like that.
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