Make a png image of your decal preferably square some base 16 multiple like 512 x 512 use a graphics package to set the background colour as transparent.
Now make a plane in blender and give it a material with an image texture and load your png as the image.
make shure you get it the right way out so you can see the image and stick it in front of the object you want it to appear on.
make shure there's a gap between the decal plane and the object. you may have to faf around with the alpha to see it in the small window in buttons but it does work.
don't set triangular mesh it does not need collision thats dealt with by the object behind
If you want to see the effect go to enobmort all of the numbers are done this way.

If you want to turn it or stretch it just manipulate the plane.