I’d like to carve some curved (2.5D) letters on a work piece.

I’d like to carve some curved (2.5D) letters on a work piece. Ideally, I’d design it in #FreeCAD, but I’m open to exploring other software, preferably open source. Anybody here done this before?

Fusion 360 is fairly easy for that. Just choose adaptive clearance but make sure the DOC is shallow if this are deep letters