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xkcd comics are already licensed under a Creative Commons Attribution-Noncommercial 2.5 license. That's probably all you need for a math team t-shirt.

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I saw that, but in the end some of the images are only about 700x400 px. At 200 ppi (which is what t shirts should be printed at, I guess), that just isn't a high enough resolution. And I'm not sure If I really want to make it larger since it will not look all that good.

You could always try contacting Randall and explain what you'd like to use the particular strip for to see if you could get a larger image.

Even if the current size was large enough, he would probably appreciate knowing about his work being printed like that as most people do.

You could load an xkcd comic into Inkscape or another vector graphics editor and trace it out by hand. It wouldn't take that long, and the end result would be a vector graphic that you could render to whatever size or resolution you need. (Creating a derivative work like this is allowed by the license.)

upvoted it (at this time, it cancelled out a downvote).

No idea why it was initially downvoted, it's good information to point out. So long as you don't make money off the shirts, it's ok to use xkcd comics.

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