It's easier than one would think. Maybe practice up a bit, put some acrylic paint on a tiny brush or toothpick, fill in the number/letter, wipe quickly and lightly w/ a cloth, and the paint in the recess should stay. Just scrape off any smears after it dries w/ a fingernail. Enamel or lacquer paint may hold up better over time, but the acrylics are usually easier to use for most people the first time, although they do dry very fast.
Make sure all the surfaces are very clean before starting. Call around, your local art store or even Walmart should have Florescent paints, they're usually acrylics, you may have to settle for Hot Pink or something, but you can mix the paints to match just about any color you could imagine..