Here's a little craft you can do with the kiddos. All you'll need is pipe cleaners, hot glue, a piece of cardboard and maybe a cork.
Simply form the word(s) you want and use hot glue to attach the pipe cleaner to your surface. My daughter wanted a little book she could draw pictures in, and requested the phrase Cute Pets, so I just glued that on to the cover. I tried Tacky Glue first and it didn't work nearly as well as the hot glue.
If you're going to make a stamp, again, just form the word(s) like so.
But this time, you'll glue your word(s) on a piece of cardboard so that it's backward. I used a thin, plastic-coated piece of cardboard that was literally the top flap of a take-out container. It had only held a small piece of pizza and was clean, so I just recycled it. Yea for the earth.
I folded a bit of the cardboard up on 3 sides of the stamp for little tabs so I could easily pull the stamp away from the paper when I was done.
Or you could attach a cork (or half of one) to a heavier piece of cardboard with some hot glue. That's a little easier for the kids to work with.
I used a stamp pad, but I'm sure a dip in a thin layer of acrylic paint would work just fine.