I think I know just what you mean.. I'd love to be able to do this, too.
I've found suppliers, but the startup cost is prohibitive.
If you ever got a shipment with foam in a bag that custom fits the
item, this is what I'm referring to.
These materials are often found in manufacturing or shipping companies.
It is a pour in foam that molds around whatever you put in it. Might be
tricky to do it in such a small scale.
Basic premise is that you would line your case with a plastic bag, pour in
the liquid foam and when it starts to set up you close the bag, you put
your objects on top so that the foam cures around it. Then you can cover
it with some sort of material or flocking to make it look nice.
I know that there's a company out there making small units for things like
a UPS Store and such .. but it is still expensive. Maybe you could find one
near you and see if A) they have it, and B) they would help you out.
There's also some envelopes that you can buy which are activated after
you put the item in it.. works on a similar principle, only smaller scale. I'm not
sure if it is a two part chemical process .. maybe you have to 'break open' some
packet inside or something .. I'm just not sure.