Create your text on a fill layer:
This will engrave the lettering:
BUT
Add a closed path surrounding your lettering on that same fill layer:
This will engrave / fill around your lettering:
No need to convert to a bitmap, jpg, etc. You have more control keeping the objects as paths.
Have a look at the reference @Rick suggested to understand more about fill logic. (It looks like he and I were writing responses at the same time).