We report on a macroscopic fluorescence lifetime imaging (MFLI) topography computational framework based around machine learning with the main goal of retrieving the depth of fluorescent inclusions deeply seated in bio-tissues. This approach leverages the depth-resolved information inherent to time-resolved fluorescence data sets coupled with the retrieval of in situ optical properties as obtained via spatial frequency domain imaging (SFDI). Specifically, a Siamese network architecture is proposed with optical properties (OPs) and time-resolved fluorescence decays as input followed by simultaneous retrieval of lifetime maps and depth profiles. We validate our approach using comprehensive in silico data sets as well as with a phantom experiment. Overall, our results demonstrate that our approach can retrieve the depth of fluorescence inclusions, especially when coupled with optical properties estimation, with high accuracy. We expect the presented computational approach to find great utility in applications such as optical-guided surgery.