Consider polyurethane vacuum casting. I have access to a product development company that uses it to make prototypes and small production runs. They machine a master model, cast a silicon rubber 2 part mold then cast the urethane in that silicon mold. Urethane can be formulated to be elastic all the way to rigid.
Here is a link to their website. many products to see. (They also do high end 3-D printing, robot & cnc machining, glass fibre layup etc so not everything you see has been vacuum cast.)
http://www.skeg.com/vacuum_casting.htm