Emboss or project a 3D model on a surface or around an object

Is there a method for embossing or project a 3D model onto a plane or surface? I’m looking for two ideas. One would be to wrap a 3D model already created around another 3D object in SW. For example, if I had a snake model and wanted to wrap it around a cylinder. The other question would be if I had a skull model and wanted to create a low rise relief on a solid surface. Anyone have an idea of how I can accomplish these things?

Thank you so much.

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