QR code
A two-dimensional barcode that encodes text, usually a URL, so a camera can open it without anyone typing.
It carries error correction, in four levels: at the highest, roughly a third of the code can be damaged or covered and it still reads. That is what allows a logo in the middle, and it is why a printed code survives a scuffed label.
The code encodes whatever it was given, permanently. Encode a destination directly and the printed artwork is the last decision you get to make. Encode a short link and the destination stays editable for as long as you hold the domain.
For anything printed, take the SVG. It stays sharp at poster size, and a PNG scaled up does not.