For smallish runs (<100 discs) and inkjet printing, my recommendation would be to look at the reviews of Primera and Microboards products, and choose from between those two. They tend to be a single product that burns and prints.
RImage also produces hardware for smaller runs, but it tends to be pricey as they combine their autoloaders with separate printers into a single unit. In this arena of <200 disc units, I’d look into Amtren and/or Discmakers.
For larger runs, or for thermal printer support, you want to look into MF-Digital, Mediatechnics, ADR and the other 300+ disc loader/printer solutions.