Inkscape comes with a tool to distort (bend) paths.
1. I'd use the 'bend' path effect (Path > Path effects > + > Bend) for bending the letters, or maybe use that on a duplicate of the letters)
2. then I'd use the polar coordinates dialog to align the numerals to the circle in the correct place
I've recorded a video that can save you a lot of trial and error. It shows a bug with the bend path effect, which moves objects far away - but that's fine, we don't care where the objects are, we'll put them on the circle later anyway. It's also very repetitive, and I often make mistakes, as I'm used to using keyboard shortcuts for a lot of the functionality, but for the sake of clarity, I tried using the graphical user interface for it...
If there's a part that is unclear, link to the time in the video and I'll explain.