A printing system configured to print an image onto a deformable cast polymer article comprising: (a) means for supporting a deformable cast polymer article in preparation for printing thereon, the means for supporting comprising a pressure platen, the deformable cast polymer comprising a finished surface to be printed on and a secondary surface; (b) an image transfer medium located contiguous with the finished surface, the image transfer medium configured to produce the image on the finished surface upon transfer of an ink image, comprising one or more inks, supported by the image transfer medium; (c) means for applying pressure to the deformable cast polymer article in the form of a deformable pressure applicator, such as a flexible membrane, the means for applying being flexible and configured to deform and conform to a surface of the deformable cast polymer article, and to cause an opposing surface of the deformable cast polymer article, under heat, to inelastically deform and conform to the pressure platen, the means for applying also being configured to cause the image transfer medium to conform to the finished surface such that substantially all of the ink image is caused to be in contact with the finished surface; and (d) means for heating at least a portion of the cast polymer to a pre-determined temperature for a pre-determined time sufficient to achieve the inelastic deformation of at least a portion of the cast polymer article, and to effectuate the transfer of the ink image to the finished surface.