My recommendation for making that soft edge type of embossing would be to use a Normal Map in your render program rather than try to create it using geometry.
3D modeling will give a harsh "CAD" like appearance, even if you manage to fillet all the edges of the design.
You can make a 2D black & white drawing in MoI or a photo editor and then convert your image to a Normal Map using:
https://cpetry.github.io/NormalMap-Online/
I've done this to add raised lettering & logos to car tires. My render program (Keyshot) does a very good job. Lighting settings in the render program have a big influence on the result as you'll need some contrast and shadows to get the best effect.
I've posted one of my examples below of a spoke wheel I modeled in MoI. Not the best example here since this Good Year logo lettering has beveled edges, but you can obtain sharp, beveled, or soft edges depending on how you adjust your settings when creating the Normal Map.
Of course you can recess your design into the object using the same Normal Map. The side wall tire tread is an example of recessing a Normal Map.
Ed Ferguson

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