I have done this a few time's .
After some "trial and error" I hit upon a solution that work's. using a small tiped paintbrush, I dipped it in a jar of Decanted Testor's Dull-cote and hand painted "Wash me" on the rear window of a muddy truck. It looked just like someone had taken their finger's and written it in the mud.
I have also done this to several 1/87 scale Southern Pacific diesel locomotives
I weathered them first, then painted the "Wash me" on the side's ( If you know the Southern Pacific, their loco's tend to get pretty Grimy. )
There's a bit of "Trial and error" to getting just the right touch to it . Dont load the paintbrush up, just a bit should work. And if it doesn't, you can alway's go back and do it again.
the letter's should look a bit rough, remember, people do this with their hand's so "Imperfect" letter's are what you want.