Some heat shrink tubing is packed flat, thus custom "printable". Although you're limited to single color printing, so black&white or line art graphic would be best. Cheaper to get it single-sided printing, but you can do both, but a design that wraps all the way around might not be possible AFAIK -- they print one side and flip it over.
1" diameter will cover both 18650 and 20700/21700. 3" length for 700 , 2.75 or 2.8" for 650* (if it's an option, otherwise get 3" and trim a bit off). Avoid thick-walled and adhesive-lined tubing.
Caveat, there will typically be a minimum buy because these places market to small businesses more than end users. It'll be cost-prohibitive to get a lifetime supply all at one go. For example, this place -- order is 100 pieces for $126. (1" diameter, 3" lengths, single-sided, green-on-on-black text)
https://www.shrinkshop.com/collections/custom-cut-and-printed-thermafix-single-wall-printed
Google for more places (heat shrink printing), though most of them are "email our sales department for a quote" suppliers.
Or spend $500-$1000 for a specialty thermal printer
There are more affordable (<$150) hand-held ones for IT and telco linemen, but so far I haven't found one that handles wrap material large enough. AFAIK these can't handle regular heatshrink -- you have to buy "cartidges" of their tubing for >$60.
https://www.ebay.com/p/Dymo-XTL-300-Label-Thermal-Printer/238207046?iid=323148324130