While there are fabric products on the market that enable you to print on fabric, this simple method is tried and true. With a bit of freezer paper, fabric and an iron, you will have fabric that is perfect for running through your home printer.
Cut freezer paper and fabric the same size. Layer the paper and the material together, placing the shiny side of the freezer paper against the fabric.
With an iron set on medium, iron the entire surface of the freezer paper, flip it over and repeat on the fabric side.
Once the layers have cooled, print directly onto the fabric. Allow the fabric to sit for a bit prior to handling to ensure the ink has sufficiently dried.