Resolved by setting config.fs file on device.mk
TARGET_FS_CONFIG_GEN += path/to/my_config.fs
And setting my_config.fs
[system/bin/foo_service]
mode: 0555
user: AID_VENDOR_FOO
group: AID_SYSTEM
caps: SYS_ADMIN | SYS_NICE
Reference https://source.android.com/docs/core/permissions/filesystem