You can get a lot of cute prints in flannel and it's fairly soft. Most mamas like having one side flannel and the other be a more scrubby type material, such as sherpa, terry, or chenille. Others like having velour on one side. Cotton velour stays pretty soft wash after wash.
Tami, mom to Brandon (3/11/03) and Edward (7/10/05) Twin girls, Emma and Ellie (3/29/11), joined our family through adoption