So, what is your planned procedure? Do you intend to apply the tulip paint to the stamp, and then stamp it on the undersuit??
I'm not familiar with what the pattern on the undersuit is, but here is my experience with tulip paints.
I've used them to embellish fabric upon fabric art, to outline, draw and draw over elements, embed jewels and findings. It works well for all those applications. It is strong and durable and will take a reasonable amount of abuse and is hand washable.
I've also used rubber stamps to apply designs, by applying acrylic paints to select areas of the design and stamping it on fabric. You can do two or three colors on one stamp at the same time if you work fast or use some extender in the acrylic paints.
Per the tulip paint--You have to push the rubber stamp down with enough pressure to cause the paint to turn loose of the stamp and stick to the fabric, so I think if you tried to use the tulip paints ON the rubber stamp that either you'd have to apply it so thin that it would not create a raised pattern or it would ooze out and just make a raised pattern around the edge of the design.
But if the design is such that you can draw or trace it onto the undersuit and then use the tulip paint to draw over it, that would give you the better raised design effect.
Shylaah