I have done a number of them on the cheap and easy - all with great success after numbers of washings:
Use a Kodak printer with pigment ink. Fuse (rather, spray baste) washed (to rid of sizing, etc.) fabric to a piece of cardstock. Scotch tape very carefully over the top edge, trim sides. Print at least 2" down from top margin. Use "Best" quality setting.
When dry (very few minutes) heat set with hot, dry iron. Let cool. Peel off cardstock. Trim to size, sew, etc., and wash. To sign, use pigment pen.
Works every time and have incorporated colored pictures, clip art, etc. Easy and cheap.