I don't know if the other printer brands are as good at supporting printing on Fabric as HP -- the last Epson I tried was years ago and I took it back because it did not work.
If your sewing machine can embroider letters (a lot of them can now), then put a piece of stabilizer behind the fabric (to prevent puckers) and make your label. I made a bunch with my old Janome 6500 for DD because she wanted them embroidered (I print mine off in Word with my picture and the picture of who I am giving it to). I gave DD the 6500 and now she embroiders her own. It is not as easy with a normal machine as with an embroidery machine, but it works well.