DIY - rubber or latex

Hi all, I’m attempting to create some cool toys, but I haven’t quite found the right substance yet. What I need is a material that arrives in liquid form—similar to paint—and can be applied over a rigid surface. However, unlike standard paint, it should retain rubbery or latex-like properties (or at least feel like plain fabric) once it sets. Crucially, it must not have any ingredients harmful to human skin. Has anyone got suggestions?