Laser printers and most modern copiers work on basically the same principle. The image to be copied is "Digitized", or scanned into millions of pixels. For each dark pixel on the original a corresponding pixel on the copy is given an electrical charge. Toner is then applied to the page, and where the page has been electrostatically charged, the toner sticks to it. It's just dust though. The fuser heats up the toner and melts it into the page.
I really think the idea will work if the Frisket can stand the heat. An ink jet would work fine if the ink will adhere to the Frisket. I haven't tried that either.
A third method might be to just print the images, spray them on the back with some artist's adhesive (the peelable kind!) and then stick them to the Frisket. Cut out the patterns, and peel the paper off the Frisket.
It's all the same basic idea as goldenretriver's method. Just a little easier to cut it out is all.