[GreyingJay]

I would say simple and large. You want to be uniquely identifiable from far away. People should be able to take one look at you and go "oh yes, that's ___", rather than "who are those guys? I can't make out the logo on their shirt, and the team number is too small to read".

Some teams have become known more by their numbers than their team name. E.g. We say 1114 and 610 more than Simbotics and Crescent Coyotes. If you know that's how you want to be known (or it is already) then focus on making those numbers big and legible. I bet you can immediately picture the typeface and colors (white on red, white and green) of those teams I just mentioned. That's what you want for your team.

Simpler, fewer colors also means cheaper to print, as screen printing companies charge you per ink color that you use, and often add setup fees for each color they need to create a silkscreen for.