Engraving a cylinder

I make automotive repair tools and one tool is a bushing driver with a round 1" OD alloy bar that used as a driver handle. I’ve been milling a flat along the bar and then use the Xcarve to engrave my logo and wear safety grasses warning. It would save a step and time if I could make the engraving follow the curve of the handle. The letters are only about 5mm tall and have thought of simply engraving deeper and just let it cut its way through the high center but I think the v bit I’m using will cause the cut to be too wide on the high area. Any ideas? thanks…Ken.