Cut two pieces of red fabric in the shape of lips and stitch or glue onto the puppet. If you can find a shiny fabric then it would look like gloss lipstick.
There are fabric paints you can use to paint the lips on.
BTW: Since you did not say I assume you are talking about on a hand in mouth puppets made of foam and fabric. On my marionettes I've simply painted the lips on then used high gloss clear finger nail polish over the color.