One possible way to print an arbirary stucture on a fiber tip, in particular a lens, is the Nanoscribe printing, see attatched paper as an example. Maybe somebody at your univeristy has such device.
Chemical polishing may be the easiest way. Dip the fiber in a mixure of hydrofloric and sulfuric acid. This tend to round tips and corners in glass. I have use HF for micropolishing and have round clean surfaces using a 30% diluted acid and kept it for 20-40 min - this may work on a fiber tip and obtain a microlens. Try and error, good luck. Post the results.