You use a silk screen with a masked off pattern through which fabric ink is forced with a squeegeee to produce the design. You can build up a pattern using a sequence of screens. Often used for T shirt printing.
If you want to embellish your printed fabric — there are lots of fabric markers made for that purpose. The Pentel® Gel Roller for Fabric is a mm pen that's great for doodling and drawing lines — my favorite!
make gelatin prints on tissue paper for least 4 reasons: It is thin and super absorbent, inexpensive, picks up lots of details and can be collaged into other work very easily. (printmaking without a press with Linda Germain: gelatin print tips)
How to Print on Fabric - Freezer Paper Method - The Graphics Fairy. This is a fun and easy technique for printing on fabric with your home printer! You can make so many beautiful crafts with this DIY Decorating idea! Great for vintage projects too!