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It still involves cutting though.
For printing on LEGO elements what you would need is a pad-printer. Last time I checked even a used one was over 10 grand.
Hmm I didn't realise a pad printer would be £10,000. Might skip that one!
Available for inkjet and laser printers.
Plus you'd be needing the spray lacquer to protect the print.
If you want to keep the Lego colour, you can wipe parts with very dilute acetone or alcohol. Then apply the decal. Some people use brasso, but I found that leaves the surface a bit too shiny.
I thought I may have to paint them. But that will save me putting stickers on the back. Well it is off to hobby craft tomorrow!