In theory it should just be matter of the correct offset paths — we’ve had some discussion of it here in the past:
Inlay Work (Woodworking) — though that was mostly straight, but the principles are the same.
F-Engrave has added inlay support: http://scorchworks.com/Fengrave/fengrave.html including V-carving.
If you use Adobe Illustrator, you may want to look into: https://amazoncanvas.com/