Relief printing is by far the oldest form of printing.  It already has at least 11 centuries behind it, as opposed to five for intaglio and less than two for planographic.  A good example of this type of printing is the woodblock print by   Katsushika Hokusai   The Great Wave off Kanagawa.  To create a relief print such as this all of the material is cut away from the non printing area.  Many materials can be used to create such as wood, steel, linoleum, rubber, etc.  The plate is then inked either by hand or a roller assembly.  The form is then pressed onto the paper to form the image.  Characteristicly, the ink is raised on the surface of the paper.  The pressure used to accomplish this leaves an embossed pattern on the other side of the paper that can sometime be seen or felt with the fingertips.