A digital printing device is manually moved across a medium, and automatically prints an image on the medium by selectively engaging one or more print elements at positions corresponding to the image. Preferably, the printing device comprises a multi-element print head a pair of optical sensors which provide position and orientation data. A controller causes the print head to print the image responsive to the location and orientation determined by the optical sensors. The printing device may be hand-held and integrated into a personal digital assistant device.