I did this with a 1/4” radius round over bit. The bit I used came to a point, not the kind with a bearing on the end(don’t use bearing type router bits on your CNC). I set the tool path to run a profile “on” the lines and set the depth to 1/4”, same as my radius.
Came out pretty good, but I didn’t get my Z axis zero perfect and ended up with some sanding to remove tool marks. Like Mike said, if you have a router and bearing type bit it’s likely much quicker. For something like mine though it would have been tough because of the clearances. All depends on what you’re after and what tools you own.
Dan