I believe the cheapest and easyest method is using toner transfer.
How does it work? Basicly you make the toner replace uv-sensetive coating (used in "photo" method). All you need is laser printer, hot iron (or better, a laminator) and a sheet of paper (but not ordinary white, it doesn't "work". You should use something smooth. The best thing is to use paper from commercials (spam) that you get to your mailbox).
Regards,