[STL -> CNC] technique or software?

You can use the STL directly either in Luban (not recommended) or in Fusion360. However, if you particularly need a depth heatmap you can use stl2png.

Online version:
https://fenrus75.github.io/FenrusCNCtools/javascript/stl2png.html

Download version:

Edit: I do have a guide for doing 3d engraves with fusion360.

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