Yes there is a way.
All you have to do is use registration marks (you can do it by eye, but for the begginer reg.marks are best).
See this picture
I used round reg. marks althoug I recommend square reg. marks.
What you do is:
1.Open your design in your favorite designing software.
2.Draw 2 or more squares and fill with one of the design color (in my case blue)
3.Copy the squares and paste in front and fill them with the other color in the design (in my case white). You should have the blue squares beneath the white squares.
4.Cut your design.
5.use your transfer tape to pick up the TOP layer (in my case white)
6. Align your reg. marks on the transfer tape with the reg. marks in the other part of the decal.
7. Lay down. Squeegee. Trim, remove the reg. marks.
You should have something like this:
There are videos on how to do this on YouTube.
Hope this helped.
Joe