A printing system comprising: a plurality of printheads, each printhead in the plurality of printheads being configured to eject marking material; a member having a first end and a second end, the plurality of printheads being positioned opposite the member and between the first end and the second end of the member; a holder configured to hold an object and to move along the member between the first end and the second end of the member; a first actuator operatively connected to the holder to enable the first actuator to move the holder along the member to enable the object to move past the printheads to receive marking material from the printheads in the plurality of printheads; a second actuator operatively connected to the holder to enable the second actuator to move the holder perpendicular to and in a plane parallel to the member; an imaging device positioned between the first end of the member and the plurality of printheads, the imaging device being configured to generate a sequence of images of a portion of the object opposite the imaging device; an image projector positioned between the first end of the member and the plurality of printheads, the image projector being configured to place an image on the portion of the object opposite the imaging device; a user interface operatively connected to the imaging device to receive the sequence of images from the imaging device, the user interface being configured to enable an operator to operate the first actuator and the second actuator to adjust a position of the object in an X-Y plane opposite the imaging device; and a controller operatively connected to the plurality of printheads, the first actuator, the second actuator, the imaging device, the image projector, and the user interface, the controller being configured to operate the first actuator to move the holder and object along the member between the first and second ends of the member, to operate the image projector to form an image on the portion of the object, to operate the imaging device to generate the sequence of images of the image on the object, to receive a signal from the user interface indicating the position of the object for a printed image that has been selected for printing, to receive data from the user interface identifying a distortion of the image on the object, and to operate ejectors within the printheads of the plurality of printheads with reference to the data identifying the distortion of the image from the image projector to form an image with colorant on the object. a plurality of printheads, each printhead in the plurality of printheads being configured to eject marking material; a member having a first end and a second end, the plurality of printheads being positioned opposite the member and between the first end and the second end of the member; a holder configured to hold an object and to move along the member between the first end and the second end of the member; a first actuator operatively connected to the holder to enable the first actuator to move the holder along the member to enable the object to move past the printheads to receive marking material from the printheads in the plurality of printheads; a second actuator operatively connected to the holder to enable the second actuator to move the holder perpendicular to and in a plane parallel to the member; an imaging device positioned between the first end of the member and the plurality of printheads, the imaging device being configured to generate a sequence of images of a portion of the object opposite the imaging device; an image projector positioned between the first end of the member and the plurality of printheads, the image projector being configured to place an image on the portion of the object opposite the imaging device; a user interface operatively connected to the imaging device to receive the sequence of images from the imaging device, the user interface being configured to enable an operator to operate the first actuator and the second actuator to adjust a position of the object in an X-Y plane opposite the imaging device; and a controller operatively connected to the plurality of printheads, the first actuator, the second actuator, the imaging device, the image projector, and the user interface, the controller being configured to operate the first actuator to move the holder and object along the member between the first and second ends of the member, to operate the image projector to form an image on the portion of the object, to operate the imaging device to generate the sequence of images of the image on the object, to receive a signal from the user interface indicating the position of the object for a printed image that has been selected for printing, to receive data from the user interface identifying a distortion of the image on the object, and to operate ejectors within the printheads of the plurality of printheads with reference to the data identifying the distortion of the image from the image projector to form an image with colorant on the object.