One of the easiest way to print textiles at home is by using a heat transfer paper.
Transfer paper is a thin piece of paper coated with wax and pigment and is used in textiles and arts and crafts projects.
Often, an ink-jet or other printer is used to print the image on the transfer paper.
A heat press can transfer the image onto clothing, canvas, or other surface.
At home you can take help of an iron to transfer the image onto any textile material.
Here is a video which will help you to create simple designs using a transfer paper.
Image reference: Pinterst
Content reference: Wikipedia