Digital fabric printing at home
If you need the prints to be washable, check to see if your printer uses pigment or dye inks. To be on the safe side, I also highly suggest printing out a test swatch and vigorously hand washing it to see how it does.
Pigment inks are water resistant, so they will not wash away from your fabric. A small amount will rinse away on the first wash, but no more than 10% should be lost.
Dye inks are not water resistant on their own, however you can pre-treat your fabric with C. Jenkins Co. Bubble Jet Set 2000. Or buy pre-treated fabric, which is linked to in the next step.
Open the printer and look at the ink cartridge number, sometimes the kind of ink is posted right on the printer, so take a minute to inspect it, inside and out.
Doing a search online with the cartridge number + "pigment" or "dye" will help to figure out which it is. I also found a label that boasts "DuraBrite Ultra Inks" on the front. Searching "DuraBrite Ultra Inks", I learned that this trademarked ink is indeed pigment based.
Notes on Printers and Inks:
I have heard that people also use laser printers, but I do not have experience with them. You can easily research online if you have a laser and would like to know if you can use it.