As per the other replies, I would also advise you to get a better burner.
I use Pioneer BDR-208EBK (somewhat dated now, firmware 1.10 or 1.50) and rarely get a bad burn. But of course a lot depends on media..
As for printable BD-R, I only use SL, but can vouch for Panasonic LM-BRS2MWE10 BD-R 25GB ink-jet printable, 10-pk. Unfortunately they are not water-resistant and give a rather dull matt-finish.
My problem is not so much getting good burns but getting good OptiDrive Control Quality Scans. In my experience, it's easy to get good burns but the resulting disc may give excessive LDC/BIS values when scanned, indicating inferior quality. This is especially true of discs which look brilliant when printed (nice glossy, striking finish and water-resistant) like FalconPRO Media 0759 or PlexDisc Liquid Defense 633-C13.
LM-BRS2MWE10 usually give low average LDC (< 5) and BIS (<0.1) though they don't look so good when printed.
I have a feeling PrimeOn Photo-On-Disc Ultragloss http://tinyurl.com/zk2ttnu might offer the best of all worlds but they are fairly new and I have yet to try them.