Is it poosible?

The two suggestions that I can offer you are ; how good are you at drawing freehand? Draw onto a regular white sheet of paper, cut it out and either use doublesided tape or glue to stick it to the figure. The other way is like I do, paint a design on. 

Please expand on your question.

-Alan

yea i would probably say the same thing. i've drawn my decals from time to time. only because my printer wasn't working though

but if your really good with a pencil, then you can easily make decals without a printer.