In accordance with one aspect of the present exemplary embodiment, provided is a hand-held printer system and method for printing on a target. The system includes a hand-held printer, a target position sensing system which senses a position of the target, and a hand-held printer position sensing system which senses a position of the hand-held printer relative to a printing surface of the target. A control mechanism actuates the printing of the hand-held printer based on the sensed positions.