From https://en.wikipedia.org/wiki/Hydrographics_(printing)

Hydrographics or HydroGraphics, also known as immersion printing, water transfer printing, water transfer imaging, hydro dipping or cubic printing, is a method of applying printed designs to three-dimensional surfaces.

Products are decorated using a print, which resides on a thin base of water-soluble film. The printed film is placed on the surface of the water, and the base begins to dissolve. A patented activator chemical is sprayed over the film causing the ink to remain floating in an oil-like state on top of the water.

End of attribution.

Rather than post a series of links for various services and vendors, consider to use as a search term "hydrographic film at home" to find results to suit your purpose. The first search results I found excluded "at home" and indicated it was not suited for home/hobbyist use, but the modification resulted in vendors supportive of home users.