The invention relates to parts having a foamed polymeric material attached to a fabric, and systems and methods for forming same. An example method of attaching foamed polymeric material to a fabric layer includes providing a mold having at least one cavity and at least one material injection channel in fluid communication with the cavity, disposing a fabric over the at least one cavity, closing the mold, injecting unfoamed polymeric material into the at least one cavity through the material injection channel, wherein the unfoamed polymeric material penetrates at least a portion of the fabric proximate the at least one cavity to attach the polymeric material to the fabric layer, and foaming the unfoamed polymeric material.