Is there any way to enhance footprints in concrete?

It seems that glossy finished bring out more detail. Same should apply here. Good luck Gayle!

You could try mixing a glaze one part paint (think id use a dark brown here) to three parts poly. Smear it in there with a chip brush then wipe it off. Tape off the area around the prints first so you don't get the glaze around them

Can you use a thin paint brush and use black or dark brown marine paint.

Agree with the sealing. If you want to keep it natural, use a Matt , if you like the the wet look, use a High Gloss. Also, you may have to reseal after the weather conditions take their toll over the years.

There are cement stains and glazes. Since you don’t need much I’d google DIY cement glaze.

Tape them off,and etch them with muriatic acid first, then ,paint,stain ,or highlight ,to make them more prominent. I would highlight the edges,then stain over that,then seal with polyurethane,it depends on how much work you want to do.

Be very careful with the acid,it's dangerous to use,avoid any contact ,or breathing the fumes.I recommend a breather mask,not just the typical hardware store dust filter.

if your not comfortable with that step, just spray them with a power washer,let them dry thoroughly,then paint.

An alternitive would be ,leave the footprints alone ,and create a frame around them,by painting the surrounding concrete white. It is more contrast you are trying to achieve,to make the footprints stand out.

You could fill in the prints with small river rocks or landscape pebbles. Use a strong glue to glue them in.