With my HP all in one I only print in black and I set the ink to BEST quality ( it uses more ink ) then press both sides as soon as it comes out of the printer. I find that if I print with ink quality at BEST that when I rinse it and the excess washes out I still have a very nice label. If you print at a lower ink setting once you wash it you will get more of a grey print.
If I want to print in color on the fabric I go to my grandmothers and use her Epson . The reason for this is that HP color inks are water based ( they wash out ! ) and Epson color inks are Pigment ( permanent )