Headliner Recess

What's the best way to get a graphic to be recessed into your headliner? I've seen foam cut out into designs and put on top of the headliner and just put material over it for a 3D look, but I want the design to sink into the headliner. I've thought about putting a thin layer of foam, cut out the graphic and just push the material into the hole, giving it a sunken effect, but the curvature of the headliner won't allow for the layer of foam. How should I go about doing this? Sorry for the book. BTW it's a 92 Chevy FS.