There are several ways that I know of, you'll have to try them & see what works for you.
There are stamps made to do this, they look kinda like big shadow stamps. I've seen them in Michael's & JoAnn's. Depending on the size of your image, you could use any shadow stamp you have. I don't think your image will be as dark/clear as the original, but maybe that depends on ink & practice.
Otherwise I've heard that you can stamp on acetate/report covers/parchement paper/vellum then flip it over and burnish the image onto paper. Again, practice & ink type will probably make a difference.
Hope you find what works for you!
ETA: sorry, I almost forgot to suggest the plastic piece from the Stamp A Ma Jig!