Apparatuses and methods for depositing a substance onto an article are disclosed, including apparatuses and methods of directly printing on three-dimensional articles, as well as the articles printed thereby or having a substance deposited thereon. In some cases, the apparatuses and methods involve creating a re-circulating relative motion between at least one article and a substance deposition device. In some embodiments, the articles can be conveyed in a closed loop path past one or more substance deposition devices. The articles can be conveyed past the substance deposition device(s) one or more times, and during each pass by the substance deposition device(s), a portion of a predetermined pattern may be applied to the articles by the substance deposition device(s).