Take a look at these HP printers:
HP Smart Tank Plus Printers
You may be able to use them for your application.
Another possibility is to print on a transparent label. This is a clear sheet with adhesive back that goes through the printer. Then remove the backing paper and apply the sheet to the object's surface. Here is the Avery product:
Avery Printable Sticker Paper for DIY Crafts, Glossy Clear, 8.5" x 11", Laser & Inkjet Printers, 7 Sheets (4397)
Hope this helps. I plan to try the Avery product on my system box.
Best regards,
Tom.