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Because this was GUARANTEED already discovered by Apple's QC department.
There is a simple tape test for silk screening, which I assume the printing is.
Sometimes initial production is different from pre-production samples and they have to develop more adhesive ink.
So, maybe they all passed the tape test, but are reacting with the material used for the protector..
Thus, they were probably not able to test the chemical reaction between screen protectors and their ink.
(Maybe they even checked a few of the most popular)
Let me also add that as long as one does not put anything onto that printing it will not come off like that, or by going naked only over time with sweat from ones hands.
Apple can't foresee what users do after they buy the phone, but then again GUARANTEED they are already working on a fix.