I've done it to small-ish pieces with a homemade vacuum. I wanted some blue wood for an accent piece in my brother's recurve. I found a tall cylindrical vase and made a lid out of some Corian. I used a dremel to rout out a groove that fit over the top of the vase and filled it with RTV silicone and let it cure to make a seal. Then drilled a couple holes in the lid for a pressure gauge and a nipple.
Hooked the nipple up to a food saver to pull vacuum. Got about -19 lbs out of it.
I had to use a pinch clamp on the 1/4" tube once the food saver kicked off to hold the vacuum, but it worked great.
I used Minwax wood hardener, but didn't heat it. For the dye, I used a liquid Rit dye, but in hindsight, I probably should've used an alcohol based leather dye or some such thing. I didn't realize till it was too late that the liquid Rit was water based, so it didn't like mixing with the solvent based wood hardener. But it did penetrate well, all things considered. I think the piece of wood I used was around 14" long and 1" x 2.5". I let it sit under vacuum for about 4 hours, if I remember correctly. It's been awhile, so I'm unsure of the exact times.
Here's what she was used for. The wood is quarter-sawn sycamore. Sorry for the bad lighting in this one.
This one is a little truer to color.