Aerosol deposition (AD) is a non-thermal ceramic coating process based on the impact consolidation of ceramic particles upon impact with the substrate. AD forms dense, thick ceramic films on a variety of hard substrates. However, because the substrate must be hard to form a ceramic film by AD, the process does not work on flexible materials, especially rubber, where non-thermal ceramic coating is required. In this study, we fabricate dense, thick ceramic coatings on soft rubber substrates by cooling the rubber substrate below its glass transition temperature during deposition. The ceramic coating on rubber shows optical transparency, mechanical properties, and microstructure comparable to the ceramic film formed by AD on a hard substrate.