Ah - belay the dril press idea (below) then. shame :-(
It's a jolly good question, Bob.
You're not alone in getting poor results from those semicircular grooving cutters. :-(
They strike me as a poor design, as the middle bit is hardly moving at all (same with the V-grooving ones). As a consequence there can't be a "correct" speed for them. You're also cross-cutting, and going with AND against the grain, all in one go. I do get approximately reasonable results, but only when I've been actually grooving with the grain (in softwood, admittedly), and they're still prone to burning and tearout. Simply plunging has never really worked with a router bit. And to get it looking nice, I find I usually have to start in the middle of the slot and work to the ends, taking fast-shallow nibbles. But I usually do it by dropping-on on the RT, rather than anything handheld, and for things like cill drip grooves the rounded ends are in the waste, anyway.
I wonder if you could "hog out" some of the shape with either a conventional twist drill (in a press), or possibly a countersink. otherwise the idea of a spherical rasp sounds like a good-un. You might also try your actual router cutter in your drill press, as it may give you better speed control, and certainly better accuracy and depth control.
I wonder also if you might get better results by cutting deeper and then planing/sanding the surface back to achieve the shallow indentations you're after.
Keen to hear if there is a good solution (there must be!) as those cutters have always frustrated me.