How can I create linear text in Rhino 6

Thanks for that clarification.
We usually refer to that as “single line fonts” (also known as “single stroke fonts”).
Rhino 7 will ship with a single line font (“SLF-RHN Architect”). For Rhino 6, you will have to download and install such font on your Windows system.

Some such fonts have been posted here before:

A different one that was posted at some time is the RhSS font but I see that the download links for that one no longer work so I’m attaching that here…
RhSS.zip (6.1 KB)
-wim