I’d say, what you’re looking to do is chasing/repousse. Having a spinning tool is not typical because of it’s tendency to wander, although that can definitely be done.
With Chasing you’ll have a variety of chisel tools, curved and straight, to create the designs that you want. Designs such as what’s in Thomas Latane’s axe here are done by chasing;
Here is an example of some chasing tools, many blacksmiths forge these out themselves to get the specific design they are looking for - different radius chisels helps with curves.
When chasing steel, you’ll want to be sure it is not heat treated! You’ll not only damage your tools, it likely just won’t work. Have the steel in a soft state to properly chase. Also, having the steel on the anvil or a surface with some weight behind it will help - if you put the piece into a vise, be sure to put some leather or something in the vise too in order to not mar your piece.
What project are you looking to add the designs to?