BrickArms announced this week that they have upgraded their abilities to print custom designs directly on minifigures. The US Rifleman pictured here was created using a "permanent ink printer", so no decals or pad printing. This soldier is currently back ordered at their store, but retails for $15 USD.
If you read through the forum thread you'll see that there are plans to give a similar treatment to a German solider sometime in the near future.
At these price points its still likely that you'll be using other means to grow your WWII battalions, but its great to see a custom house like BrickArms begin to develop products of this quality!
(Via BrickArms Forums)