Are you looking to emboss them? Wrap to face option should do it. See attached (Inventor 2022).
Similarly, for decal, you can "wrap to face" an image inserted into a sketch, with your markings (also attached):
Hi Tyler, I'm assuming this is a school assignment. Check this search query for lots of help with this:

What version of Inventor are you using?
Attach the *.ipt file of your attempt here.
>>Geometry Text<<
Where did you go?