no you can't. you will need the special iron on paper.

however, this site shows you how to transfer ANY picture you like on to your fabric through your inkjet printer.
www.instructables.com/id/Inkjet-P...

and here's a site that shows how you can make stencils, too, that you can use on your t-shirts & fabrics.
www.melissaclifton.com/tutorial-s...
www.stencilease.com – also a great site to make stencils but payment required for final product.

then you could also go for fabric crayons from crayola.
www.crayola.com has some instructions in this regard.

hope these help you customize your garments
all the very best

UPDATE : you can also scan the picture & print it out on iron-on paper that you buy from craft/stationery supplies stores & then transfer to the fabric.