Using freezer paper and an inkjet printer to apply embroidery patterns directly to fabric. May be worth a shot since my own idea of printing onto a piece of sewing interfacing nearly took out my printer!
Transfer your Embroidery Pattern the Easy Way - tutorial from Bustle & Sew---*Sticky residue on needles is just an incidental. Better be sure your printer colors won't run in water and your thread floss is colorfast. If not, you've got big problems.