Stamping on velvet lets you exercise your creativity in everything from cards to clothes. The key things you need for successful velvet work are:
1- Rayon velvet fabric.
2- An iron without steamholes on the soleplate, heated to Cotton/Linen temperature.
3-An image stamp that's molded (or burned) deep into the rubber and can be completely covered by the soleplate of the iron.
Once you've decided what you want to stamp, place your rubber stamp rubber-side up on a flat, heat-resistant surface. Place your velvet piece on top of it and lightly spray with water. Cover the whole image with your iron and press down. Hold in place for about 30 seconds, then lift up without moving it. Your fabric should be stamped beautifully.
The images that work best to stamp on velvet are solid silhouettes or thick line art. The detail of fine line art, stippling or shading can get lost in the nap of the fabric.
Try this technique and let me know how it goes.
Better yet, send me a sample (you can e-mail a picture) and I'll post it here!