After searching all day, I decided to try this die cutting machine:
https://www.ebay.com/itm/Cricut-Make...72.m2749.l2649

It will be perfect for decal cutting but does many other things and cuts 100's of different materials. While I couldn't engrave anything real thick, it can handle up to 3/32 in thickness which would be good enough for my needs.

If I ever need to work with thicker materials, probably a cnc router would be more suitable.