A handheld printer that provides an appropriate application of ink to a print medium without a bulky and complex mechanical system for positioning a print head with respect to the print medium. A handheld printer according to the present teachings includes a navigation subsystem that tracks a motion of the handheld printer with respect to a printing surface and a print head controller that causes a print head to fire ink drops onto the printing surface in response to the motion and in response to an image contained in an image buffer.