If it doesn't need to be lolita, try otome kei, or it's now called girly style? girly casual? Anyway, the brands are Emily Temple Cute, Jane Marple, Leur Getter. Half the time they do cutesy prints that are meant to be worn simply (the other half of the time they make high quality almost-normie style, but at least that gives you an idea how easy it is to tone down the cutesy prints).
If you really want lolita brands, you can keep an eye out for the non-lolita releases -- AP used to make salopettes and mini skirts for fairy kei that don't fit a petticoat, and they still sometimes make cutsew OPs (with print) that look okay without petticoat. Though a lot of times they don't really look lolita, the fairy kei stuff especially looks particularly fairy kei.
Alternatively, a fair number of Innocent World and JetJ can be worn as normie sundresses with a quirky print. They often have less poof in their skirts so they don't look too terrible without a petticoat.
If you really, really want it to be lolita regardless, you can try long dresses from Innocent World and Moi Meme Moitie. The ones in long length made from soft fabric, non-tiered tends to look better without a petticoat than with a petticoat. There's no getting around a blouse other than buying the OP instead, though. And all the points of lolita styling do still apply.