I haven't put decals on a car before, but I have put a protective film over a bicycle frame, which is far from flat.
For that, the method I used was to get a spray bottle that provides a fine mist and put a couple of drops (no more..) of washing up liquid in with approx 500ml of water. Coating both the frame and the sticky side of the film, I then applied the film and, with a fine coat of water between the two surfaces (surface tension of which is broken by the washing up liquid) I was able to move the film around until in the right place. Then finally, I used a small squeegy to encourage the inevitable air bubbles to the edges and left to dry out.
I don't see why this wouldn't work with what you are trying.. good luck!