printing on paper and foam cups

greetings,
i would appreciate it if anybody could tell me what is the process by which logos are imprinted on paper, clear, and foam cups (just like the starbucks loos on the starbucks cups). what equipment is needed to do this? is it an ardous process?

thanks in advance for all your help

Cheers

I am looking for screen printer for foam cups too but automatic with several colors. Here is US company Sisauto with very good machine but looks expensive to me