Emboss (stamp) a logo or letters into a mesh?

Is there a proper way to stamp a mesh into a surface.
I realize I could possibly do this with a boolean but my experience with them is it’s messy
that does not take into account I’m not an expert modeler with vast knowledge of the boolean tool.

if it was a raised emboss it would be a simple task of placing one mesh further out than the other, but this is an inward shape.
It’s also a curved shape, not flat.


Use a mask (matte) as a material and use it to displace your geometry.