catia v5 (any release)
This is a very weird method
Answered with a tutorial: https://grabcad.com/tutorials/how-to-emboss-and-engrave-text-on-any-model-component-in-catia
TYPE3-CAA is probably the best solution to deal with texts in CATIA. It presents the advantage of keeping the associativity of your catparts with parametric texts.It has all the typographical tools needed and is fully integrated in CATIA CAA V5 as well as in 3DE.
A trial version is available on their website: http://www.type3.us/type3caa