A marking system comprises plural marking heads disposed side-by-side in a horizontal direction, each of the marking heads performing printing on a surface of a tire by thermal transfer with a thermal transfer tape when the each of the marking heads is in proximity to the surface of the tire, air cylinders provided with the respective marking heads and moving the respective marking heads in proximity to the surface of the tire to make the respective marking heads perform printing, a linear actuator moving the marking heads and the air cylinders in the horizontal direction, and a controller selecting at least one of the marking heads and controlling the linear actuator to move the selected at least one of the marking heads to a position opposite the tire, thereby making the selected at least one of the marking heads perform printing.