How big do you want your decals to be? And what are you going to print them on? If you are talking about small decals, something like a motorcycle manufacturers logo. Why not scan them into a program like Microsoft Paint, it installs with Windows, and print them. If you turn up the resolution when you scan the image you can probably avoid any pixelation. If you want something larger than will fit on 8-1/2" x 11" paper some printers include banner making software, or you might try something like Adobe Photo Shop
Download Free Trial From Here but I hope you have a high speed connection its 162 MB for Windows Version. If your decal will be very long you may have to use a roll of self adhesive vinyl film such as
Gerber High Performance 220. By the way Gerber also makes Graphics Software that can be used to make any type or size vinyl sign (or decal) you can imagine, but its pretty expensive, Im thinking around $2,000. They also make plotters to cut the vinyl so it can be weeded and transferred to whatever you want to stick it to, but again were talking a few thousand dollars. Another obstacle, if it will be in the sun or under fluorescent lights, is the ink you use in your printer will have to be UV resistant. They make it and its about twice as expensive as regular ink,
if you can get it for you printer.