In Adobe Illustrator use envelope distortion “With Mesh” for this. There are two versions:
- Left: only some random deformations Object > Envelope Distortion > Make with Mesh (the mesh is left visible)
- Right: added another envelope “Make with top object” for perspective. The added envelope is a trapezium.
You might also want to add some shading. For this you can add a grey or colored gradient mesh on the top, then play with the blending mode and opacity in the