This is what I used to do.

Thermal transfer: Epson inkjet printer (it is best to use this brand because of the nozzle), thermal transfer paper (sublimation and hot stamping). thermoprinting machine

The engraving machine is used for engraving and is not recommended. If you do it in the early stage, it will be of little use.

Then another way is screening. That needs a tray or something.

Say hello if you don't understand.