There are a couple of pigment dyes that might work or Procion dyes might fit the bill too.
Anyways, Jacquard pigment dyes are heat set, like with an iron. Depending on how thin or thick you apply the dye, it will leave a feel on the fabric. Dharma has some pigement dyes that are similar but do not need heat or other fixative.
Thickened procion dyes would work well, too. You could stamp, stencil, paint on the design, wrap your PF in plastic, let it sit to cure and rinse.
Anyways...I hope I have sent you in the right direction. Heck, go to Joanns, they might have just what you need
Kathy