The best I have seen was a jig an old gunsmith friend of mine had made up. It was made from two flat bars 1/4" thick and 1/2" high, they had been welded with the appropriate gap in between to allow a fairly snug fit to the letter/number stamps, and then milled to a V on the barrel/bottom side. He would position this on the barrel where he wanted it and then tape it in place with electrical tape on either end. The number stamps were held nice and square for stamping and after each letter/number, he would place a stamp upside down to to get his spacing and keep going like that until it was done. He could also monitor his depth and get them all exactly the same even if some needed several taps, because he could remove the stamp and inspect and then replace it precisely to the same place everytime. Those of you who have done this know that a "W" for instance requires a lot more force than does a "1". He also did not use Cdn tire or PA stamps, his were a precision set, sorry don't remember the make, but they were like Starret or Butterfield. He did something else I've never seen another smith do, he placed a very thin piece of paper between his jig and the barrel, almost like cigarette paper so he would never marr the barrel either on blued or polished or SS. He was very much a perfectionist.
All you had to do was watch him do it once and you could see how slick and precise his little jig worked, and I doubt it took him more than 1/2 hour to make.