Here is a method I used on a name plaque that had some small very fine cursive lettering.
I painted the lettering in the desired color using an ACRYLIC paint. Concentrating on the lettering but not overly concerned about getting some paint on the background.
I let it dry and then painted the background color over the top of all this using an ENAMEL paint. Being sure to completely cover the background.
I then took one of those small Tamiya cotton swabs mositened with paint thinner and lightly brushed over the lettering. This removed the top layer of enamel background paint and left the underlying acrylic paint alone. Hint: Don't let the enamel paint totally dry and it will be easier to remove.
Previously I tried building up the paint on the letters using dry brushing but couldn't get enough paint built up for the letters to show.