Erasable Fabric Ink - Water Soluable Ink for Needle Arts
Not sure about using a permanent ink when stamping onto fabric (and some papers too)? Why not try this erasable ink from Tsukineko.
Lightly tap stamp on ink pad
Test impression on paper
Re-ink and stamp onto fabric
To remove the stamped image from fabric, use a wet cotton swab and retrace inked image. Repeat if any remains after the fabric has dried.
Test all surfaces before using the ink (I would also suggest testing a small area with your chosen embroidery thread).
For best results, the image should be erased within 10 days, after this time it may be harder to erase. Do not launder or iron before removing the image