craftgrrl | New and quick screen printing question

Hello, I just joined. I'm mainly a costumer, but I do other crafts sometimes. Knitting, chain maille, and some wig making so far. (Many more I want to learn)

Right now I'm about to start working on a costume and a friend mentioned wanting to try screen printing on her costumes. I've looking into doing it and I have the basic technique figured out, but what I am unsure about is how to do it on these costumes because the fabric is lycra. I know it can be done, but is there a special technique/ink/etc for printing on lycra? One thing I am afraid of is the ink cracking when the fabric is stretched.

Any tips would be great. I searched the community and read the memories, but didn't find anything about this.