Arlon DPF8000 print vinyl sticks quite well. If you're going for anything other than white, though- it won't work unless you print it (and you get any color you want). Print/cut/apply/done.
As for cut vinyl- in my experience, problems with vinyl sticking to drywall usually boils down to the paint on the wall- and contractor grade paints that have an matte/eggshell/whatever finish are the worst.
Think about the things cut vinyl is (normally) applied to:
Vehicles
Composite panels
Painted signs
Coroplast
Etc.
What do they have in common? A good, smooth paint job. The vinyl has something to "grab" and adhere to.
Rapid Tac will help the tape release the vinyl, and you can try a heat gun on your lettering, but I'm not sure how much good it will do in the long run.
It's not unheard of to have to have a customer to repaint the wall.
My .02.