LadyRags, I'll document how I did this process tomorrow, including photos, and post a link to my Web site.
I can't speak for the longevity of stamped fabric, but I do have some ribbon I stamped 10 years ago or so, and it still looks good.
I'm using this process on an art quilt that won't be washed, but there are certainly rubber stamp inks that are made for fabrics, and you can use Lumiere paints or other fabric paints. You just need to make sure the consistency is sort of thick so that the ink stays wet on the rubber until you're ready to stamp it. Also, I paint the ink/paint on with a brush rather than using a stamp pad. That way I can control the amount of ink and make sure all of the image is covered.
As I said, I carved my own stamps, but there are gazillions of ready-made rubber stamps out there, so the sky's the limit!
Ruthann