There are a couple companies out there selling water transfer decal paper.
Micro Mark, Bell Inc. to name a couple.
I found using an ink jet printer larger solid color graphics want to bleed. I tried making "meatballs" for my Zero but the large red center wanted to bleed all over the place and made a mess.
But smaller more complicated graphics came out very nice.
The clown in the pic is very detailed, and the lettering somewhat simple, you can see how the larger red area has started to fad a bit.
These were made using Print shop deluxe and Micro Mark clear ink jet decal paper

Also keep in mind your printer thinks you are using white paper.
So colors kinda differ when you put the decal on a colored surface, Light colors like pink, red, yellow, need a white back ground to show up nicely. So if you want these colors to show up correctly you need to print them on white decal paper or apply them to a white surface.

Takes a little practice and some wasted paper but the results are worth it. And best of all you can say you made them.

Good luck