Writing Text on an object

Is there any way to write words and decals onto a mesh, or does this have to be done elsewhere?

maybe with the Dynamic Paint modifier?

Like on a texture? You can do a selected-to-active texture bake of a text object (with a surrounding “ray catcher” mesh.) Embossing on a mesh? All of your standard modifier techniques, like shrinkwrapping, booleans, etc, although damn, you’d sure need a lot of verts to make it work well.