OpenSCAD

module roundedBox(length, width, height, radius) {
  dRadius = 2*radius;
  minkowski() {
    cube(size = [width-dRadius, length-dRadius, height]);
    cylinder(r = radius, h = 0.01);
  }
}

$fn = 40;

linear_extrude(1)
text("test", font = "Belle Allure GS");