[Windell] developed an Inkscape extension called Hershey ... of generating vector paths that deal with the outline and fill of the text appropriately. The problem stems from how fonts are defined ...

For example, if you convert a text element (such as the letter "A") to a path, it will generate two extrusions; one for the path representing the outline of the letter and one for the path ...

and trace it into a set of vectors using the Inkscape ‘trace bitmap’ tool. If you started with an SVG or similar vector shape, then you can skip that stage. Next simply create a PCB outline ...