A computer-implemented method of generating a toolpath for engraving at least one character on a surface of a workpiece. The method includes: receiving, by a post processor, PP, information pertaining to: the shape of the surface to be engraved on the workpiece; an area to be engraved on the surface of the workpiece; and at least one character to be engraved on the surface of the workpiece. Then, the method includes generating, by the PP, a toolpath for engraving the at least one character on the surface of a workpiece by: mapping a pre-stored predefined reference 2D toolpath of each character to be engraved on the surface onto the surface to be engraved according to the received information.