I spray the cardstock (after printing) with a clear sealant. I have an inkjet printer and the ink dries too fast to emboss, and smears even with using a heat gun or letting it sit for a few days (the other common suggestion). I found mine in Walmart on the same shelf as the ModPodge, if that helps - I noticed different brands in different stores. Just check the label for uses - mine does list use on paper as well as ceramics, etc.
ETA: it's only about $4 Canadian for the spray, and mine has lasted 6 months so far, with loads of use, so it's a fairly economical solution