The 10x10 canopies with walls ($200) they sell at Costco come with a blank sign that you can just take to a local printer. This tent seems more durable than most to me.
EZ-UP does them directly and there are a lot of other canopy manufacturers and dealers that do custom canopy printing / assembly. The quotes I got when I was looking for a print and sew top for a 10x10 ranged anywhere from $340 additional for just the 4 valance panels to $680 additional for all 4 top panels & the valances.