Jimmy, you're thinking of an Alps printer. You can still find them and the print supplies on eBay. A friend of mine just bought one for his train modeling habit. They will print white and also have the abilities to print metallics and fluorescents with the proper ink cartidges. The caveat is that this printer is a wet transfer decal like you used to use when you built models. Not good for RC stuff.
You are pretty much left with cut vinyl plotters. Small ones can be had pretty cheap, and they do great work for RC but you are limited with the type of logo or art you can cut with it. It's tough to do small stuff, and scripts and spindly type are almost impossible, and you can forget about doing anything with any detail to it. I use a larger than most 15" Graphtec CE3000-40 for all of my vinyl work. I bought it as a side business opportunity, but the labor, materials and time needed to make it work are tough to provide. I use mine now as a really expensive toy.
There are machines that will print & cut (known in the industry as "print & cut" for some reason) decals, but the prices of the printers make it completely unreasonable for home and hobby usage. If you see some really cool graphics made and applied to racer's chargers, power supplies, Ott lights and soldering irons, that is the technology used to produce those pieces. Most guys I know that do it are using the machines of the companies they work at 9 to 5 and do it as a side business. The decals do have a tendency to be a bit thick or plasticy though, and again, don't translate well to RC cars.
These were all made on a vinyl plotter (except the Jconcept, protoform and detail decals)...