I used the artwork from the graphic artist and Printed Treasures fabric sheets with an inkjet printer. (blog.ilovefabric.com)
You can manage to do more or less the same thing by putting down a piece of plastic sheeting or even a thin fabric sheet underneath the toy, but be careful you don't end up using something that will make it slide around and become unsafe for your kids to play on. (abckidsinc.com)