I've used an Epson Stylus R200 for a coupla years now - direct printing to (printable) CDs & DVDs. About a hundred bucks, or thereabouts. The software supports the Mac, at well. Fair to middling inkjet printer, does pretty decently on the occasional photo, as well.
Not anything exotic, but if I really want to label it, it's far better than a sticky paper label that WILL come off.