Tried to make a stamp today with my 3D printer using PLA for the handle and TPU for the stamp. Results are meh. Maybe the flow rates aren’t right which leaves the gaps. I did use the iron feature on the top layer too.

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That’s somewhat better. 100% infill (was 20%) and top iron at 20% flow (was 10%). Also using the TPU (85A) manufacturer settings file for Bambu P1S.

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@paulrickards I'm surprised the stamp works as well as it does. I would've thought you'd need a softer surface to pick up the ink. When I saw the first photo, I nearly suggested printing a mould to cast a stamp out of silicone rubber, but you hardly need it. I'm not usually one for print lines but they contribute a neat texture here.
@MrDOS Yeah it's not too bad. The bottom of the stamp was printed in TPU which is flexible so that likely helps in ink transfer with pressure.