A printing apparatus and method are disclosed for printing on three-dimensional objects. The apparatus employs an offset printing process in which an ink image is deposited onto an intermediate transfer member (ITM) having the form of a flexible endless belt. After drying of the ink image on the ITM, the ITM transports the dried ink image to an impression station having a nip at which the ITM is compressed between an object and an impression surface, so that the dried ink image is transferred from the ITM to the object. The impression surface may form part of a stationary anvil, the ITM sliding relative to the impression surface during passage through the impression station. To optimize throughput, the velocity of the ITM relative to the surface of the object at the impression station may be greater than the velocity of the ITM relative to the imaging station.