I used to make a lot of friction blocks for bottling machines, I did it on shapers, using a steel base block like a soft parallel, the parts were about 6" long and 1" wide and 1/4" thick, I welded lengths of identical stock onto the parallel at each end of the blank and used vise hold downs the clamp the blanks down; I used a regular diamond pattern knurling tool to do the work, the parts were knurled on both sides and subsequently case hardened. This is not a job for a toy shaper, it needs to be done by a heavy enough machine to take the rather high forces to make the impression. I saw this being done in the shop that I apprenticed, where it was done on a 24" G&E Industrial Universal shaper.