Described herein is a marking system for marking animals. The marking system comprises a restraining device, a controller, and a robot assembly wherein the robot assembly comprises a robotic arm, a marking device attached thereto, and one or more actuators for manipulating the robotic arm and marking with the marking device; the robot assembly and the restraining device are positioned in a fixed manner relative to one another; the restraining device is sized and configured for restraining an animal or animal body part thereof and oriented such that the marking device can make a mark on a substrate portion of the animal body part; and the controller is configured to control the position of the marking device and to make a mark on the substrate portion of the animal body part by actuating the one or more actuators. Also described herein are media transfer assemblies and animal restraints.