The caps you sent have a graphic printed on them and then a clear coat. That would not be able to be replicated with 3D printing. Your options with 3D printing would be to either just print the circle and then do a vinyl transfer to that part and finish it, paint the part with stencils afterwards, or you could 3D recess the logo into the cap and paint it, possibly use resin to make it flat, and then clear/polish. I'm not a finisher though so I could only make the physical part.
What caps do the Hermera wheels come with? Assuming they have one an you are just making this custom one, sending that part to model the bottom and replace with a custom top that is flat and you would transfer the logo on or 3D printed with a recessed logo should be do-able.