I am just posting here to let more recent internet searchers know - you can print on heatshrink with a 'regular' thermal transfer printer.
(This forum post shows up in google searches in 2024!)
I have a TSC TTP-343 Plus model - which is a 'standard' 4" wide ribbon style thermal transfer printer - typically used for vinyl printing.
I had to make a "hardboard" guide for the heat shrink - and do a bunch of templating in my software (I use AutoCAD).
The results are great for text and numbers.
You have to use a font with enough thickness to print well - so basically trial and error - to get it working.
You can't print near the edge because the heat shrink's edge bend affects the transfer ribbon's pressure against the heat shrink.
However, I can print on 9mm well and 12mm very well.
This prints linearly - so I can print a 12" long piece with multiple impressions. (And then cut them up after)
AS some people note - don't have the printer cut the heat shrink - it's not designed do that.
I have both black and white ribbon - so I can print either color 'ink' on the tubing.
If there is interest in this, I could do a tutorial with a video.
Regards
Sepp.
AND FYI: IF you need vinyl label tapes and supplies -
www.precisionlabelproducts.com consistently has the lowest prices and widest range of colors I have ever found. We bought our printer from them, back in 2010, but you can probably find some great deals on Ebay these days.
Thermal Transfer printers are still 'crazy' expensive - I think!