There are a number of castable rubber products, Devcon Flexane being an example. It may work to 3D print a rigid mould and then pour the rubber into it.
Frost Auto used to sell a good book called 'casting small rubber parts' or something similar.
Thanks! I've got an idea about something as a small business but don't have an printer or any idea of how they work!
I'll have a look into it a bit more.