Yes, each model since they started the individual letters (93? 94?)
have their own individual jigs for applying them. They are not a mandatory tool though (not automatically shipped tot he dealer like some tools) so you may have a hard time locating the one for your car. I have often contemplated buying them just as a collectors item.
I usually do it using the tape method as you mentioned, but just put them on very lightly so I can "perfect" them before pressing them down hard, this usually gives good results. If the car has been painted, you should try to take a few measurements before hand, or use a tracing of the area for orientation. If there has been no repaint, you can take off the numbers, polish then wax-strip the area and still usually see where the letters/numbers originally were.