This is a question of interest to me too, as I am thinking ahead about scales and numbering for my Quorn.
I agree that punched numbers are not ideal. I have Pryor steel type in guided holders on the Pillar Tool, but I still I find it difficult to get an even depth of impression.
For scales and numbers on tool parts, I would have though etching would be too shallow. I don’t know what is possible with laser engraving, but I have not seen anything I have thought adequate.
Machine engraving seems to me to be the ideal answer, but I don’t think I could justifying the cost of a Taylor Hobson or Gravograph machine. Would a CNC router do the job? It would need a rotary axis to do cylindrical work.