1. A method for digital printing on a three-dimensional substrate, comprising the following steps: positioning a first ink jet nozzle over a region of a substrate that is of at least a first distance from the nozzle, wherein the first distance is approximately 1 cm; and propelling a first ink drop of at least a first size, from the first nozzle, to the surface of the substrate along a predictable trajectory, wherein the first size is approximately 80 pL.