These are The Bubble Guppies !!
I have a feeling these are just edible prints which were then placed on white fondant. Then the characters were cut around.
I usually go print edible images at the cake supplies store by my house but if you're unable to find a place near you then you could get custom prints at http://edibleprints.com
Hope I was able to help!!!
Oh wow that seems so obvious now!! Thank you all for your answers :D Very cute cakes
Here is how I do it.
I print the character on edible paper using my edible image printer to the size I want. Then I trim it. Next I roll gumpaste kind of thin, I don't like them to look to bulky. Probably about 1/8" thin.
Next I lightly brush the area on the gumpaste where the cut out will lay with water. Using my clean finger I rub the wet area in small circles making sure the area is sticky. DO NOT SOAK WITH WATER! This may dissolve the image or smear the ink! Carefully place the image right side up on the sticky gumpaste. I use my gumpaste roller and pass it over the image very carefully. You can use your finger to make sure it sticks. Let sit for a few minutes, 5 minutes is fine.
Take your exacto knife and cut the gumpaste to the edge of the image. Let your image dry facing up for a few hours or overnight is best. Then flip it over and let the back side dry. You can now place it on our cake.
You can also use shortening to adhere the image, then there is no risk of using too much water or smearing the image.
Thanks Debbie, that's a great tip. I will be using shortening from now on!
Some people also use piping gel. They just paint it on. I like Crisco personally on fondant or gumpaste.