I'm new here and I've seen a video about Waterslide Decal Paper for custom LEGO minifigs and if you want them "clear", do that method. And I believe where you want to color to match the torso, it would have to be white, if I understood correctly. So when you print the decal on the Wasterslide Decal Paper, white will come out clear. I also like this method because you can get minifigs to look like they actually were produced by LEGO.
But about someone making your decal, I have no idea how to, sorry.