If you have time, you might experiment yourself, lol. Baby clothing is one item that I've never worried about much, since I don't want to put an unnecessary burden on a new mom by requiring special laundry care. So, I've always used fabric paint meant for this type of thing.
Still, I would think if you've heat set the thing after the stamping, it should be fine to launder normally. I would say "machine wash warm, inside out, dry on low or delicate. Remove promptly." Turning it inside out will help protect the paint, keeping it from being scratched by other items in the laundry.
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