Engraving text for 3d printing

I am making an object to be 3d printed and I do not know how to engrave text into, let’s say, a cube.

I’ve searched all over the internet and, to my disbelief, nobody speaks about this - aside from one video for carving out a sphere. If someone could please help me with this simple problem I’d greatly appreciate it.

It’s just normal text - nothing special involved.