So, yes, it can be done with a paint marker (I used Edding 750 Gold with a 2-4mm round nose) and a lot of attention. Applied it twice.
Sure, would have been harder to do for a round table.
It is fairly decent - just short of ideal.
Any other method I asked about at T-shirt and fabric printing stores is not suitable. Either the paint would not really apply, since the cloth has already a teflon coating, or the cloth itself would burn... Or they "might be able" to do it, but wouldn't bother for a single piece of cloth.
I didn't bother to ask about stitching.
Here are pics of my custom dining table topper, made by a crafty friend. For my man cave, I 'll go with something more dedicated.
View attachment 176743
View attachment 176744