There are a few Touch-Screen examples in the Arduino Example's menu but, I've never used them.
I've made several Touch buttons similar to those purchased - that's easy to do in Kicad (and other PCB design software) and there are libraries/codes for Arduino touch buttons/sensors (google it).
I found that I don't need the libraries - I just touch the traces and it works like a switch by closing the circuit's gap through skin..
Haven't yet done any with Teensy but, I don't see why it wouldn't work (works for UNO, Nano, Tiny's). I've also made them using Copper-Tape.
In Kicad, designing touch-able pads is easy (any shape, and can import graphics to Copper layer to make a custom shaped touch sensor and can draw general shapes with Kicad's tools.
I just searched in Kicad and grabbed
this example link
Yes, can easily CNC them - they're just copper pads...
And, though a bit crude, here's example of my early version of Membrane-Touch buttons and a consulting job I did - circuit on film with 3D-printed cover.
Last image was done in less than two minutes... did not bother adding vias or Pins but, easy to do... you get the idea... Oh, it also shows results of length, resistance, inductance from my home-grown Plugin (for selected traces)
