Vinyl (PVC) is a thermo plastic and will go soft/melt at between 100 and 260 deg C.In this soft state a pattern can be impressed by rolling with a patterned roller. When the Vinyl cools and solidifies it will retain the pattern.
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Print with suitable (rubber-based?) inks.Emboss while manufacturing the sheet.Emboss or engrave afterward....If you were specific about what you were trying to do, someone might be able to give you more specific suggestions.
Vacuum formingLaser etching