I used to make taped seam clothing and equipment.
I used an iron set to the max the fabric could tape, tape from Point North or Pennine and a wallpaper seam roller.
the seam to be taped was positioned between 2 bit of card to ensure that I could get even pressure each side of the seam itself, the tape laid in place (and "tacked" into place in a couple of spots with the iron) then covered in brown paper and the iron applied. While the work was still hot I rolled the roller HARD up and down the seam to fix the tape securely. It sounds more difficult than it is