Laser etching is a great process but I've often wished I could have higher contrast etched text, colors, etc. Then I realized I could do that very easily. If you're laser etching acrylic sheet it already comes with a protective paper covering which makes an awesome paint mask.
So the basic process is deeply laser etch the panel with the protective paper in place. Paint though this protective paper mask. You can be as sloppy as you like. Then simply peal the paper away. Now you have super clean highly detailed etchings, and the paint is protected because it's actually recessed into the plastic. (That's why you use a deep etch.) You can use any color or combination of colors you like.
Step 1: Deeply Etch the Design With a Surface Mask in Place.
Do a deep laser etch of your design on acrylic with the protective paper in place. I suppose you could also try this by pre-masking non acrylic object. Like putting contact paper on wood, etc. But I haven't tried it and I'm not certain we're allowed to vaporize contact paper in the laser I have access to.