Actually A local "maker" I know was showed off some sheet metal impressions he was doing when I visited his shop. He laid the sheet over over a pattern with foam block and a hard backer over the top. He was doing them on a simple hand operated hydraulic press. Impressions of coins, and various other hard patterns. More as proof of concept than anything else. H had some wrinkling around the impressions, but I think that was more a function of using patterns not designed to deal with that.
Two matching rollers was my other thought, but you do have to plan for material thickness that way. Not just top and bottom, but also on the slopes and sides.... but lasers are good too.