Silicone cover

Hello all, I'm currently working on a project where I need to cover a tube with a motor inside and I'm thinking about making it out of a silicone where I can remove it from the tube but put it back on, so much like a pen grip. I'd also like it to be a snug fit and not so thick and a smooth finish. So I was wondering if you guys had any ideas for me! I'd also be thankful if anyone had any ideas how to make this haha. Thank you!