A Standard Freeform Fabricator (SFF) designed by "Fab at Home" will do just this. With Open-source software, folks are experimenting with designing 3D and useful objects. h+ Magazine posted an article sharing about the system and that it is being used in universities to learn design and engineering as well as experimental handicapped assistive devices.
Cornell University published an article: "Object Augmentation for the Visually Impaired Using RP" (pdf here). Sibley School of Mechanical and Aero-space engineering, Cornell Univ. Computing and Information Science, and ELIA Life Technology Inc, used a free form fabricator to "print" a tacticle alphabet on various surfaces.
Here is a video that shows the unit making a watch...
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