Heat a cup head bolt or a similar rounded object to approx 80°C or higher (by putting it in a cup of hot water for example) and push it slowly onto the keycap to form the indent.
I used a M6 (I think DIN 603) cup head bolt.
For the green button I used the z-hop method, the rest is toner transfer.
The black keycap is a two color print (black and white) with a white inlay to get the white number/text with the toner transfer technique.
Inspired by the keypad in Star Wars Andor S1E2, minute 16:10.
More on the toner transfer technique: r/FDM_TonerTransfer
The author marked this model as their own original creation.