Apparatuses and methods for a handheld printing device that allow the handheld printing device to print images onto a planar or non-planar print surface are described herein. The handheld printing device may include, among other things, a print head, a position module, and a print module. The print head may be designed to deposit one or more printing substances onto a print surface of a print medium. The position module may be designed to generate mapping information of the print surface including three dimensional location of a print spot of the print surface, and to generate positioning information indicating three dimensional location of the handheld printing device relative to the print medium. And finally, the print module may be designed to control the print head, to cause the print head to deposit or not to deposit one or more of the printing substances onto the print spot based, at least in part, by comparing the positioning information to the mapping information.