As I recall (I worked with it about a year ago, tried many different ways to get even impression)I ended up using a arbor press. I started on wood. Well let me tell what happened..I was talking to my grandpa (he's big into wood carving) and he was showing me a stippling tool. Now, if you don't know what that is...it's basically a flat punch that has been machined at a 45 degree angle (small line cuts) then turned on same 45 degree 90 degrees ,so you end up with a lot of little points. They come in different sizes and patterns. Oh, you could use these if you found one you liked.
Anyway, I had made a set of very custom pistol grips and on the thumb shelf I tipped it down with a light curve. It was slick and what I wanted was about a 3/8" square spot that was checkered. Problem was it was curved and I didn't want to free hand it. So, I took a 1/2" steel round , ground it to the same shape then cut a 3/8" square of stainless steel screen, put between and pressed it. Yes, I did take a block of wood and practice with first...a lot, to be sure I had the pressure right. Don't try to press it twice, you only get one shot.
So, I tried it on plastics and found it worked best when it was warmed up. If you play with it and get the right temp it works great. If I did it more I would use a temp controlled soldering iron (big one) and make my own head to go in place of tip (kinda like the hot letter stamps used on wood). I worked with acrylic which is more brittle then delrin, so it needed the heat (I'd try delrin cold first).
If the plastic sticks to the screen
it's too hot. Take a wire brush on a dremel and go over screen.
Just remember even pressure. I only did round dime size. Best ol luck