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Slicer trick or in the models themselves?
Embedded in the models themselves.
I made an SVG of the Icon, the I turn it into a sketch, then scale and push into the area I want it. It’s doable in Fusion 360 and FreeCAD. Though FreeCAD takes some messaging to get it to work well.
I do it in OpenSCAD too with a depth-map https://en.m.wikibooks.org/wiki/OpenSCAD_User_Manual/Other_Language_Features#surface