They do have digital fabric printers, but they're huge and expensive and about as big as those big printers are copy shops. I've only seen one, and that was at the textiles & fashion department at my uni.

Thought of doing screenprinting?

Or maybe something like CafePress (http://www.cafepress.com)? Neighborhoodies (http://www.neighborhoodies.com/catalog/) also does to-order printing, with limitations.