Carry out engraving services on the official website.
When you buy an Apple Pencil on the official website, there will be two schools, one is the non-engraved version, and the other is the engraved version. For the course-optional version, just enter the font you need to engrave. Generally speaking, the engraving version needs to wait for a while before it can be shipped to you.
The engraving service is limited to iPad and iPod products, and other products do not have this service.