A possibility for a shop with routing equipment is to utilize the fairly new technique of thermoforming for tactile sign components.
If you aren’t ready to purchase a thermoforming machine yourself, some wholesale companies can use your molds that you can create on your router, and ship you the unfinished clear thermoformed pieces after they press them.
You design modular signs and incorporate the tactile pieces in your design. You can print the backgrounds or paint them as you wish. The characters can be screen printed on the surface or the color can be supplied on the second surface.
Read more about adding ADA signage to your business.