Screen printing works alright until it gets scratched up or gets any sort of solvent on it. Any solvent would wipe it right off. Several outfitters spray paint their boats and they have to touch them up but it doesn't get much cheaper than that. Obviously, I am partial to the urethane logos but no matter how you cut it, it ain't cheap.
If you wanted me to make you some stencils so you can do it yourself, I can do that as well.