How to extrude on a curved surface

Assuming that your solid geometry is developable (a cylinder satisfies this constraint). The wrap feature will work nicely for creating the inlaid geometry.

https://support.ptc.com/help/creo/creo_pma/r11.0/usascii/part_modeling/part_modeling/About_the_Wrap_Feature.html 

https://www.youtube.com/watch?v=RfRqcjP48k0 

Maybe you can use the Offset "with Draft" function: 

Hi @NM_13206492,

I wanted to see if you got the help you needed.

If so, please mark the appropriate reply as the Accepted Solution. It will help other members who may have the same question.
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Thanks,
Anurag