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I have used is called, I think, Picture This. It's like a clear glue, really. It's been a long time since I used it, but I remember I got colour photocopies of my photos and then used the product to apply the images to fabric.
You can buy t-shirt transfer paper at most business supply stores that you can run through printer and that will be washable. You have to remember to reverse your image, then print then iron on . . better results if you cut as close as possible to your image.
I think craft stores like Michaels carry some things like that. I have also found fabric photo transfer stuff at fabric stores (a paper than takes the image, you iron it on fabric, then wash off the paper). It's also worth checking art supply shops and photo stores for products to transfer photos.
One trick I have used is to adhere (with temporary adhesive such as used for stencils) some fabric to a backing like freezer paper or some other paper that will release the fabric easily and put it through my printer. You can print on fabric pretty easily that way although you have to allow that sometimes the ink seems a little duller than normal paper. As well I do not believe ink jet ink is washable so this is only good on things that will never be near water.
Another option is that most digital printing places like Kinko's offer printing on canvas. You pay by the square foot (I think it runs arond $6/sqft). You can do colour or black/white. That's really a good way to get large pieces (I think the limit is about 3' width) as well as some neat smaller ones if you do a bunch at the same time.