now trying to "get historical" :
35 000 to 20 000 before J.-C. : Apparition des premiers os entaillés de la Préhistoire. (carved bones, one carf per unit)

5000 before J.-C. : Les Sumériens développent une numération parlée de base 60. (sexagesimal numbering) on stones - still used in China - and later on tablets

3300 to 3200 before J.-C. : Apparition des chiffres sumériens et proto-élamites, tous deux considérés comme les plus anciens systèmes de numération connus. (first numberings in Elam and Sumer)

3000 to 2900 before J.-C. : Apparition de la numération hyéroglyphique égyptienne.
Example around -3500 :

and on papyrus or tablets :

Note the unit symbol
2700 before J.-C. : Apparition des chiffres cunéiformes sumériens
1900 to 1600 before J.-C. : Les Babyloniens développent le premier système de numération de position connu à ce jour. Utilisant la base 60, ce système ne comporte pas encore de zéro. (Babylone, sexagesimal base)
End of XIVe c. before J.-C. : Apparition des plus anciens chiffres chinois connus. (Chinese)
IIIe c. before J.-C. : Invention du zéro par les Babyloniens. Par contre, le zéro babylonien n'est pas conçu comme un nombre pouvant être utilisé lors de calculs. Il sert simplement à exprimer l'absence d'unités d'un certain ordre.
IIIe c. before J.-C. : Apparition des chiffres brahmi (indiens). Les chiffres de ce système sont considérés comme les précurseurs des neuf chiffres de notre système de numération moderne.
original sanskrit (IV century)/hindu/ghubâr (occidental Arabs V-VII Century) versions :

note that the Arabs kept the Hindu way of writing chiffres (left-to-right) despite their right-to-left writing.
one version of north of Spain :

X Century :

In 913, the French monk Gerbert d'Aurillac tried to make Europe (ie, England and Northern Europe ;-) adopt the new way of writing down numbers ; it's only end of XIV th Century that this happened.
Around 1000, Pope Sylvestre II pushed very hard to mae the new notation adopted, but encountered opposition as Roman numbering (I, V, X, L, C, M etc) and Greek numbers were seen as a foundation of the civilisation.
Astrology treaty XIV C. (note the 7 not fixed) :

first printed characters (1473) note the 5 and 7 are the only ones remaining unset :

1700+ : invention of Romain(Roman), Garamond and Fournier typographical fonts :

from
http://lechiffre.free.fr/chapter1/B-Naissance/titre1.htmlfrom some teachers of my previous university :

in
http://histoiredechiffres.neuf.fr/Firefox/histoiredechiffres.htmAbout the meaning of "chiffre" (cypher) :
Sunya means empty (void) in Sanscrit, the zero is represented by a small circle (why? we don't know). Translated in Arabic, sunya becomes Sifr (the void).
"cifre" (Fr.) became "chifre" and finally "chiffre" and meant "the void"
About "zero" : The zero entered Occident in the 12th century ; translated in Italian sifr gave zéfirum, word that Léonard de Pise (ca 1170 - 1250) uses in his liber abaci and that will be used until the 15th century.After some modifications, the word ended in zéfiro, itself becoming zéro starting in 1491.
It's only in 1491 that "chiffre" meant "any representation in a numerical notation" and no longer "the void" (zero took that meaning)
So now about the "dash" in the 7 my answer is : "I don't know but it helps differentiate with the one" ;-)