Simply use a sharp knife to 'engrave' a pattern. No need to heat up the blade, 'causde you'll simply end up making a mess of the minute details. StuGs have been 'adorned' by a number of Zimmerit patterns, from the 'Waffle' (which would be very hard to replicate with a knife , heated or not), to verticaly or horizontaly lined squares, to a checkers pattern (which would be easy to do with my technique - indeed, my daughter of then 11 managed to engrave that pattern of her StuG IV).
http://www.panzerworld.net/Zimmerit.htm