I'm using one of these:
https://www.amazon.co.uk/dp/B0030E5WYW/
They do a clear backed tape with black lettering. Seems to be relatively durable. Doesn't look totally professional however.
Possibly the best option I have seen, but haven't bothered with (yet), is to draw it out in a vector drawing package and then get it printed onto vinyl and apply that to the panel. This works out about £35 for a one shot though so rather expensive. I know someone who used it for a commercial prototype and it looked very good.