Speak to the hospital. They usually have inking pads for taking hand and foot prints (not always for the nicest of reasons but things like NICU babies etc ) They should be able to tell you where to get them from or may be able to get one for you in hospital. We access them from newborn care / NICU when we need one at work.
My little niece was in NICU and they used what looked like an ink pad to do her footprints. They had one that was all one colour, and another that was tri-coloured, so her toes were one colour, the middle of her foot another and her heel another one. You might be able to borrow it, or they should be able to tell you where to get one.
I used face paint for DD's feet and her footprints came up beautifully in my dearly departed FIL last bday card. 8 months on and the prints are still on the card as bright as they were the day I did them. It wiped off nicely too!
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