I recently saw a maker on YouTube do a hot stamp. Cold stamping while annealed is probably a bit more common these days though. Lots of guys use an "electrochemical" etcher, and I've even seen a few makers doing acid etching with vinyl resists cut out on something like a "Cricut" vinyl cutter. The best way, IMO, would be a fiber laser etch, but not everyone (certainly not me) has a few grand to dump on a laser machine.
No matter what method you go with, your setup and technique will determine your results. Any of them can look really good, or really bad.
Personally, I like the electrochemical method, since you can make just about any kind of stencil that you want for not a lot of time, money, or effort, and done properly, it gives a really clean result. Even if you have your stencils made by somebody like T.U.S. or Ernie Grospitch, they're relatively inexpensive for the number of etches you get per stencil.