This is like a physical version of "I Am Sitting In A Room" [0], a classic work of experimental music. In that piece, Alvin Lucier speaks the words "I am sitting in a room different from the the one you are in now..." into a recorder, which is then played back into another recorder, on and on until it becomes unintelligible.
Hi, artist here. I also did an interactive installation work directly inspired by I Am Sitting In A Room. :) It's only had a single (prototype) showing though. https://beesbuzz.biz/art/1512-whatwesaidwillbe
Only if the specification is concise enough to fit in/on the object. If you're 3d printing a sphere or another shape that can easily be parameterized, great; if you're 3d printing a model of a brain I expect you'll have a hard time.
Let F(S) be the specification with steganography applied. The steganography ensures that there is a Finv that can be induced from F(S) and such that Finv(F(S)) = S.
You print F(S).
The receiver scans the object F(S) and computes S.
It's a bit different scanning a teapot to scanning a human - it may be the case that the built-in ability for humans to self-repair could carry the day, even granting that generation loss is an unavoidable thing for teleporters. Interesting artwork though!
[0] https://www.youtube.com/watch?v=fAxHlLK3Oyk