The human hand is vital for daily and social functions, and its loss can significantly impact quality of life, often necessitating psychological intervention due to isolation, anxiety, or depression. While prosthetic hands restore essential mobility, challenges remain in achieving natural appearance and sensory feedback. This study presents the development of an electronic sensory glove (e-glove) system that seamlessly integrates multimodal sensors—capable of detecting pressure, temperature, and moisture—into a commercial stretchable nitrile glove. Leveraging a hybrid screen- and transfer-printing fabrication method, the e-glove conforms to various prosthetic hand shapes and sizes, offering realistic tactile qualities and real-time data transmission via a wristwatch interface. Both experimental and computational analyses validate the glove’s mechanical and functional efficacy, demonstrating its potential to enhance prosthetic hand interactions in diverse daily and social contexts.