This paper works just like a temporary tattoo and can even be used on the skin! You will need an INKJET printer.
Comes with 5 sheets of tattoo paper, and 5 sheets of sticky clear paper. See my tutorial here to see how to use this.
https://www.youtube.com/watch?v=CQKpf5kp0Gg
Pair this with some laminate vinyl to make it waterproof.