You can write on CDRs (and DVD-/+Rs) with a permanent marker (commonly known as a Sharpie, or CD-R pen). This will not smudge, I use a set of them myself.
I don't have a disc printer either, but I believe the discs should say "Printable" or words to that effect on the packaging.
I believe some Epson printers can print discs, as well as certain Canons. I don't know much about printable discs, but hopefully someone else can give you a better idea.
Another alternative, is to use a burner which supports Lightscribe or Labelflash. Again, the discs should say "Lightscribe", and the drive does the label work for you.
Finally, under no circumstances should you use sticky labels on your discs. It's asking for trouble sometime down the line.