I love using rubber stamps on fabric. Years ago we were told you had to use deeply etched rubber stamps to get a good impression on fabric. I think that has changed because we're not as afraid of experimenting on fabric. I've found just about any rubber stamp works. I love using stamp pads and paint to transfer the image onto fabric.
One thing I've found that helps is to back the fabric with a double sided stabilizer, like Wonder Under. After this is ironed onto the fabric, I leave the paper backing then press my rubber stamp onto the fabric.
After you've stamped the image, set the inks with an iron. I use Tsukineko's Fabrico or VersaColor stamps pads, and Jacquard's Pearl EX stamp pads. But, any ink based stamp pad will work.
After you've stamped and set the images, color them using colored pencils, markers, or whatever. I've fallen in love with Copic's marker. All of them.
This photo shows the faces done using colored pencils, markers and the background painted with Lumiere and Pearl EX powders.
Another fun project is making small paper dolls, but backing them onto a stabilizer such as Pelltex, Timtex or Pelmet Vilene. Traci and Allison Stillwell of ArtGirlz have some new rubber stamps that are absolutely the most fun I've used. You can mix and match heads and they are designed for their pewter arms and legs. Shoes and crowns, too. Here's one I did in just a few hours.
I stamped the dress and head onto fabric backed with Wonder Under. I then colored it using Copic markers and painted the under body with a Stewart Gill Byzantium paint. This was then ironed onto Timtex. I appliqued some fabric here and there then free motion sewed the dress to the under body (which had the head attached). I hand sewed the arms and shoes on with beads and crystals and used crystals to attach the crown. I hand sewed a pin back to her back and I shall wear her proudly tonight.
ArtGirlz website http://www.artgirlz.com