I see what you are asking for. It wouldn't be any sort of printing company who could do that. That would be a custom fabbed up part. Maybe with a 3D printer with adhesive added afterwards. There's no way to hollow out a domed decal or make just the sides taller. Good luck and let us know if you ever find something like this. It won't be 20 bucks though I know that.
"Storm Trooper" 2014 White SRT
2014 SRT Storm Trooper Edition- RIPP Supercharged, 3M Satin White Pearl Wrap, Black Ops CF Front Diffuser, GTHAUS Meisterschaft Exhaust with X-pipe, American Racing Headers, Vossen CV3 22" on 305-35-22 Perilli, Road Magnet Mid Level Springs, Lamin-X Tinted Tails, Billet Technology Under-Hood Package, Custom Painted Engine Covers