How I did it: Draw a single-line text, put a single character in it, array it around to make as many characters as you need, then edit each one to what you want. Then make eyeball spacing adjustments to make it look right. This sounds like a stupid way to do things, but when I first started AutoCAD, I didn't know of a better way, and I still don't. I was drawing my PE seal, so I only had to do this once.
It would be handy if angular dimensions could have curved text, but again, have never seen anything about that. Seems like the program used at a past employer could do that, but it wasn't AutoCAD.