Yes, it can be done on a small CNC mill, but the cost and learning curve are VERY steep - probably not worth it unless, of course, you really want to own and learn CNC. Lost wax casting is also possible, but a much simpler method is to use the Delt Clay system. It's really intended for jewellers who want to do one-off castings in gold or silver, but it works just as well with brass, copper or aluminium. This U-tube video shows what it is and how it is used.
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I've used it many times and it's capable of reproducing very fine detail. Here's a picture of a teddy bear pendant I cast in gold - it's about 30mm high.
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You can purchase the system from just about any jeweller's tool suppliers; I got mine from Sutton Tools in Birmingham - see
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