Mikka,
I have seen adverts on eBay for spring loaded, rotary engraving tools (to fit most engraving machines) that are designed for engraving on curved surfaces but they do have limitations to character height / surface curvature etc. A rotary axis is another possibility, quite easy to set up within Mach but the mechanical aspects of fitting one to the machine (length of barrel etc.) may need some thought.
Tweakie.