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I used to work at a cresting shop. We never did undies, but probably would have if someone asked.
Just try a few of thoses embriodery kiosks in malls and stuff, and see if they'll put text on a pair. Then pick up a nice pair at your fav store, and take them in.
Failing that there are sewing machines on the market that do text in all kinds of script etc. Maybe someone you know has one and would do the embroidery for you ?
Along the lines of djp there are special textile paints that can be purchased and you could easily draw/paint on your own design.
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