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3D-Text on a round surface

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3D-Text on a round surface
I know how to extrude a text in 3D.
This makes it easy to get text on a flat surface.
But I would like to engrave a text in a round surface for printing result with 3D printer.

Has anyone a good idea how to fit the extruded text to the round surface?
Adding/removed extruded text from a curved surface
How I do it.
1. Extrude text about twice the height of desired final height
2. Create a polygon with (for example) the number of sides as the number of letters and spaces, outside radius corresponding to the radius of the target surface and extrude
3. Position each character perpendicular to and centered on the faces of the extruded polygon. Subtract or intersect cylinders as needed to obtain a curved surface