Described herein is a marking system for marking animals. The marking system may include a restraining device, a controller, and a marking device. The marking device includes a marking needle of fixed length comprising one or a plurality of needle tips the restraining device is sized and configured for restraining an animal or animal body part thereof and oriented such that the marking device can make a mark on a substrate portion of the animal body part and the controller is configured to control the position of the marking device and to make a mark on the substrate portion of the animal body part. Also described herein are media transfer assemblies for use in the disclosed marking system.
