Three ways to make paw print art with your dog:
Washable body paints or finger paints will likely work best and won’t cost too much. Tempera or water-based paints are also good as they tend to be non-toxic. From there, just dip your dog’s paw in the paint, then gently press it onto a sturdy paper for a couple of seconds. Lift the paw straight up and wash it. You may wish to take more than one print to make sure you get a good one.
Dough is actually a safe way to get a good imprint of your dog's paw. Mix a cup of flour with a cup of salt and add water until you have enough to kneed and make into a ball.With some wax paper, cover the mold and press your dog’s foot into it. You can then bake the pressing at about 200 Fahrenheit for two to three hours. Just be sure to check it regularly, otherwise the pressing might crack.
Ink is another option, though it’s likely to be messier. Remember to always opt for non-toxic! Consider perhaps archival ink, as it is less likely to fade.
Text Source: https://dogtime.com/how-to/73145-take-paw-prints-dog