A method for printing on an article can include positioning an article in a print bed of a printing device. The fiducial is disposed in the print bed. The method can also include generating an image of the article and the fiducial, locating the fiducial in the image, using the fiducial to establish a point of reference relative to a print location on the article, providing a raster or vector graphic file comprising a graphic, printing a representation of the graphic on the article at the print location, and removing the article from the print bed.