The recent revision of the American with Disabilities Act includes a change that prohibits tactile text with sharp edges. If you are using a laser engraver to cut your tactile letters, numbers and icons for ADA signs you are probably in the process of developing a technique that complies with the new Specification which affects buildings that were started on or after March 12th 2012.
There are several options available that will provide a softer edge, note that I did not use the term beveled edge because a bevel is not required. The ADA specifies edges that are "not sharp", this is a vague description that may be difficult to prove should you be questioned by a building official or customer representative.
I have been working on a means of processing my tactile characters that will allow me to continue cutting them with my laser engraver. I have not perfected the technique yet but I am close enough at this point to share some details and concerns.
Vibratory Tumbling
For about ten days I have been experimenting with a vibratory tumbler using several types of abrasive media. At this point I have learned that Aluminum Oxide (16 grit) leaves a terrible coating on plastic characters and although it will soften the edges some I believe that it is not abrasive enough. I have had better luck with glass media, a medium grit leaves only dust on the characters that washes off easy enough but the edges are still not soft enough to make me happy. My run times have been from 2 hours to 8 hours at this point with basically the same results. I feel that my next step is to find another abrasive media that is specifically made for plastic, if this exists. My Internet research has turned up references to abrasive media for plastic but I haven't found a source to purchase it yet. Possibly someone here has had experience with vibratory tumbling soft plastic and can help me find the right media for the job.
Below you will find a couple pictures of the tumbler I am using. It is an inexpensive machine from Harbor Freight, this five pound model costs about 59 bucks. There is an 18 pound model that sells for about 160 bucks that I will purchase if I my final results provide an acceptable edge.