Methods and devices for printing on substrates

A system for printing on a substrate, the system comprising:

• a conveyor that is configured to move the substrate along a substrate movement axis;
• at least one print head array, wherein each print head array of the at least one print head array comprises a plurality of print heads, wherein each print head of the plurality of print heads has a respective orientation axis, wherein the plurality of print heads comprises at least a first print head and a second print head, wherein the orientation axis of the first print head is angularly offset from the orientation axis of the second print head, wherein the first print head is offset from the second print head along the substrate movement axis;
• and
• an embossing assembly comprising:
• a band formed into a loop, wherein the band has an embossing surface that defines a pattern;
• at least one press roller that is configured to bias the band against the substrate so that the band is between the at least one press roller and the substrate,
• wherein the at least one press roller is configured to bias the band against the substrate at a first point, a second point, and a third point, wherein each of the first, second, and third points is on a surface of the substrate and within a cross sectional plane perpendicular to the substrate movement axis, and wherein the first, second, and third points are not collinear.