A system for digitally printing directly on a plurality of containers is provided. In an embodiment, the system includes a device configured to determine an initial position or orientation of an individual container; a plurality of print heads configured to print directly on said containers; and a plurality of container holders configured hold or retain an individual container, to rotate the individual container, and to maintain a rotational position of the individual container relative to at least one print head while printing occurs; and one or more curing devices. The system may be configured such that the plurality of container holders are configured to move along a linear or curved path, and the plurality of container holders may be configured to controllably rotate about a container axis.