It depends on the needed radius, If the radius is small enough a corner rounding end mill is fast and easy but works best on square corners.
This is a part I had to make. It is .250 thick Stainless.
There are 3 outside radii and 2 inside radii all radii had to be tangent on both ends.
I then used a corner rounding end mill to put the nice radius all around the top edge.
This project sounds a lot like what you are doing.
In this case I had to make 28 of them so I made a fixture that went into the #2 Morse taper in the center of my rotary table.
I did all of the calculations and layout in cad to design the fixture.
The fixture was a flat plate with 5 sets of mounting holes to mount the part. Each set of mounting holes would put the center of the radius exactly on the center of the RT. The mill DRO was zeroed on the center of the RT for the full process.
First OP was to cut blanks out of bar stock
Drill & C'Bore the bolt holes for a very tight fit on the screws so I could use them for locating on the fixture.
Drill and tap the center hole.
Flip the part and using the first set of holes as reference, drilled and C'Bore the 2 pockets for the O'Rings.
Back to the band saw to knock the 2 corners off so I had less stainless to turn into chips.
All of the outside profile was done with a 3/4 dia 2 flute indexable cutter, all of the rest of the work was HSS.
Then I had to mill one of the straight angled edges to the center of its R, rotate the RT to cut the first R, Remove the part and bolt it down to the next position, rotate the appropriate degrees and so forth till done.
Then came back and did it all again with the corner rounding end mill.
I then made a pass with the fly cutter to give it a nice look on the top surface. The tram was kicked very slightly "off" in the direction of cut to get just a semi circular pattern as the customer (ME) preferred that look to the pattern you get with the tram set perfect.
Last thing was to open up the bolt holes to a standard screw clearance.