it's been years, so I am foggy on the details, but I have made transfers using a Xerox copy machine copy and some acetone onto metal plates in a lithography class. I suppose you could do the same process, theninstead of making a print plate, just use that for your etching template, but ... not sure how well it would work without a press of some sort.
You may be able to use a large, round, & smooth doorknob or some other implement to rub it on, like a large spoon? I had kind of forgotten about it until the other day.
check out some of these links.http://www.deliberate-design.net/xerox_transfer_monoprints_by_barry_peterson.htmhttp://palimpsest.stanford.edu/byform/mailing-lists/bookarts/1998/02/msg00052.html