A printing method includes a step of dividing the to-be-printed surface 10 of a to-be-printed object 100 into a plurality of small to-be-printed surfaces 1a, 1b, . . . (a, b, . . . will be omitted below) and dividing a picture 20 to be printed on the to-be-printed surface 10 into small pictures 2 to be printed on the small to-be-printed surfaces 1, a step of a creating small developed picture 3 by developing each of the small pictures 2 into a plane, a step of putting ink on small printing original plate 30 corresponding to the small to-be-printed surface 1 according to the small developed picture 2, a step of a pressing small printing blanket 40 corresponding to each of the small to-be-printed surfaces 1 against the corresponding small printing original plate 30 and transferring the ink, and a step of printing the picture 20 on the to-be-printed surface 1 by pressing the small printing blanket 30 grasped by the arm of a multi-axis robot against the small to-be-printed surface 1 to print the small picture 2.