I realized that the lyrics-writing command can do a somewhat satisfactory job of writing numbers above or below the notes. While it does not do the complete job, such as showing the shifting of fingers on a single note, it is far better than hand-writing the fingering on each copy.
Editor's Note: You may also want to try Insert: Text to place fingering numbers above or below notes. Do not check preserve width and the number will be in vertical line with your note.