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Kinsei uses an etching cream called Armour Etch to do the actual etching, with packing tape as a resist. A lot of people recommend using vinyl stencils if you have them, but if you don't then packing tape will do, as follows.

How to etch glass, from Kinsei, slightly edited:

Ok, here is my ridiculously crude process. It is crude but effective.

1. I took some old packing tape I had and tapped the glass. it smells like ass, but it gets the job done. I tried to make sure there wasn't any air bubbles. Any that got trapped, I poked a hole in to them and pushed out the air. Another problem is creases. These will really fuck your shit up so try and avoid them.

2. Print out or draw your design and tape it to the glass. Just try and get the template as flat as possible.

3. Take your knife and start cutting. The paper stencil parts will fall out pretty easily, but that's not a big deal since the tape on the glass itself will remain. An exacto knifewill be good for this if you have one.

4. Finish cutting and then start popping out the pieces you want etched to the glass. Using the tip of your knife will help you get them started until you can get a hold of it with your fingers or tweezers or something. Be sure to remove all the pieces you want etched.

5. Apply the Cream! Let it set for the proper time.

6. Wash it off and wash it well. Running water from a sink will do just fine. You can remove the stencil at this point, but waiting will let you touch up any missed spots.

7. Touch up any missed spots with some more cream. I'm still new to this stuff so I didn't know if a second coat would actually work. But it did and all is great, This would be why you would want to wait on removing the stencil, I didn't so I had to be a bit more careful.

See the final below. Although there are some mistakes in this one it came out well enough.

A dremel (a kind of handheld rotary tool that has a a variety of rotating accessory bits and attachments) with the right bits can also be used to etch glass, but it's hard to control the path of the bit. A Sand Blaster might work for things on a large scale using vinyl stencils.