You can do a FBCT (frozen butter cream transfer). Here's the link with instructions on how to do it. HTH
Laura
http://www.cakecentral.com/article12-How-To-Create-a-Frozen-Buttercream-Transfer.html
I haven't done this yet, but some do the edible transfers. Some have the machines to do it, but otherwise you can go to your local grocery store and they can put it on a transfer for you. Once you lay it on your cake frosting, it melts right into the cake.
The following item "How To's" can be found on the Home Page of this site:
· Edible Images Chapter 2 - Edible Paper Types & How To Apply Images to Your Cake
- Aug 23 2006
· Edible Images Chapter 1 - The Basics
- Aug 23 2006
Have fun!!
I paint on fondant plaques all the time - it's not hard, just takes good eyes, a steady hand and lots of patience! I print out an image that I like, usually from one of my favourite sites for these:
http://www.allkids.co.uk/kids_pages/kids_colouring_pages.shtml
http://www.bestofkids.net/coloring-pages-heroes.shtml
I resize it if needed. Then I roll out my fondant, place the picture on top and firmly, but not so hard that you tear the paper, trace over the drawing using a toothpick. When you lift it off you'll see the drawing impressed into the fondant. Then I go over the impressions with a black food colouring pen. Finally, using gel colours thinned down with clear alcohol, I paint them. If they need trimming up to get rid of the excess fondant, I do that last. I usually leave to dry for 2-3 days on a powder sugar dusted board before moving onto the cake, it works equally well on a fondant or buttercream covered cake. You can see lots of examples of the finished thing in my gallery. If I can help you in any way, just pm me 
I'm a fan of the FBCT - I did the Wicked Playbill in my pictures that way. You can also do a gel transfer (some people also do the pin prick method). For the gel transfer, you print out a picture (print it in reverse). Cover the picture with wax paper, and outline it with a light colored piping gel. Take the sheet and turn it over onto the cake, and you have the outline for your design - it is now like a coloring book - retrace the outlines in the proper icing colors, and fill in between the lines either with stars or however you want to decorate the design. I find that the gel transfers are difficult to do for intricate designs (I prefer FBCT for that).
Some people buy projectors and use those, too.
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