I made a quilt a few years ago and hand embroidered my favorite sayings on it. One of them was the Ann Landers quote - something like
"Admiration by your dog does not necessarily mean that you are a
good person" and I bought a paw print rubber stamp and dipped it in regular acrylic paint and printed it above and below the saying. Since it is still a work in progress (I have a lot more words of wisdom to leave to my children) it hasn't been washed yet. I am pretty sure that the paw prints will stay on if I iron them before I wash the quilt. If you think you might like to try this with your real dog - just have a bowl of sudsy water on hand to wash his paws right away and things should be fine.