It takes some trouble shooting and you have to try to make sure your ink is as waterproof as possible (for washing and what not) but I made a knitting bag once and on a panel of it I actually attached the fabric (a blank salmon piece of fabric) onto a sheet of cardstock and ran it through my printer.
You could probably use a re-positional adhesive (there is a spray adhesive, low stick but we used them in silkscreening to keep the shirts down while we worked.
Then your only limit is what your printer can print or what you'd want to piece together.