One of the things that I have been laser engraving is bourbon staves. I have been laser engraving them with an Xtool which provides a nice mapping tool of the variable z=0 since the staves are curved.
Is there a way to do that with my CNC using Vcarve Pro?
You will have to create the 3d model for it to project onto. If the staves are all from the same size/type of barrel they should be relatively similar but I would expect some variance.