Direct to Garment printing, also known as
DTG printing is done with a special printer that can print your image directly onto the t-shirt. There are no screens or transfers involved.
Can it be done with minimal equipment?
Well, yes all you need is the printer and the computer and software to run it.
However if what you mean by minimal is "cheap", than the answer is no.
These printers cost around $14,000 and up.
What you would want to do is find someone that has a
DTG printer and give them the job of printing your shirt for you.
Here is a link to see an example of one of the many
DTG printers that are starting to hit the market. This is my favorite brand and model so far.
dtgprinting.com