I print directly onto my dvd's and cd's. I use the Epson Stylus Photo R300. It does a terrific job at this the dvd's cd's look as good as the originals. It sells for around $149 US . They also make the R200 which is cheaper and the exact same printer except that the R300 accepts memory cards for pc-less photo printing wth the printer. The printer comes with software called Epson Print CD which is easy to use. Don't believe the dinks against ink jet printing, I have printed over 600discs on this printer and never once had one smear.
Check them out:
The trick is finding very good media that is printable. I prefer Verbatim White hub printable DVD+R (p/n 94812) and also Taiyo Yuden White printable DVD+R ,both 8x, available from meritline.com or several other online sellers.
You can get the same in DVD-R if you want.
Once I print the discs I also use a little trick I learned about here, which is to give the discs a quick spray of clear satin acrylic to seal the print and the disc look awesome!