i've made tons of labels with my ink jet printer-
i usually prepare my fabric for dyeing (pre-wash with detergent- no fabric softener) then press freezer paper to the back- cut to the size of printer paper- design my label- and print---i set it aside to (cure) then i heat set it- cut it out an use it.
i do use good quality permenent ink in my printer---not the re-fills or off brand cartridges. it's not difficult- you can use pre=made fabric printer sheets- but read the packages- some are not made to be laundered (for wall hangings) some need to be dry cleaned- some are supposed to be washable---all of them are kind of expensive.
the printer that is not recommended for printing on fabric is the laser printers- there is something about them getting really hot--but ink jet printers work ok- and the HP and Epson printers are the ones with the best recommendations/reviews- and the best inks available.