Decoupage. No baking.
On a candle, just use a little water to make a picture stay on it, then dip it in paraffin. We used to do this in school. Looks great
Decoupage - you can buy a kit at a crafts store.
Use ModPodge to adhere pictures to the backside of a clear plate you are going to use for food, adhere to the front if you wish to just use for decoration. on any colored plates. There are a few finishes avaiable now such as flat, satin, or shiny finishes. There's also one that is dishwasher safe. ModPodge will work well to adhere a picture to the sides of your candle. You certainly don't want to bake a candle! Have fun!