That's pad printing. This was used by Weaver, Red Caboose, Intermountain and others back in the day as a way to decorate models with lettering, logos, etc. I watched the process many years ago during a tour of the Intermountain factory in Longmont, CO.
A flat metal printing plate was exposed and etched so that the artwork pattern for a single color was left proud of the field. A machine inked the tops of the letters, then moved a very soft silicone pad over the plate to pick up the ink pattern. The pad then moved over and pressed the ink pattern onto the side of a locomotive shell or car body. The soft pad was able to conform to irregularities in the model surface such as rivets and some ribs.
I want to remove the ink without damaging the underlying paint. So far I've received recommendations for Microsol and Testor's ELO, locally applied.