There is a process called "silk screening."
Actually still done today, mainly in the T-shirt industry the fabric industry and other areas that would be surprising.
With the advent of full color printing equipment, silk screening, in the sign industry, has taken somewhat of a back seat although in some cases, depending on the use, still popular.
For those modelers concerned with scale, developing a relationship with a silk screening company, actually an individual as an asset, would make possible for the applying of any color on any color and any graphic, including small lettering.
It does require a bit of knowledge and skill to work with small silk screens, but manageable.
Google "silk screening" and doors will open up to the unlimited possibilities of this method of applying ink to surfaces.
Yes, in special cases, for art reproduction on signs, I've actually paid, customer did actually, for a screen or two to make the producing of some signs easier. Generally Architectural signage with complicated logos or renderings of buildings. In all cases, the customer would supply camera ready art.
Certainly a medium that could be considered.
Charles