Hello.
If you want really nice looking DVDs then you want to print directly on the DVD.
For this you need a printer that can print on disc and suitable printable DVDs.
I've been through this a bunch and the best looking way I've found is an Epson CD/DVD capable printer like the Artisan series or the 1440 combined with Inkjet-printable water-resistant DVDs with so the ink doesn't come off if someone cleans the disc with a liquid.
An added bonus is Epson's excellent Print CD software that's included with the printer... It's very easy and intuitive to use and you'll be producing great looking DVDs in no time.
The disadvantage to Epson is Ink Cost. The tiny cartridges empty out quickly and there's six of them. Any sort of volume production calls for a Continuous Ink System (CIS), readily available online by a zillion different vendors.
HP does make one model printer that can print on discs. It is more economical on ink but the blacks aren't very black and the included software is really bad. I ended up using InDesign with the HP and suffered through getting the printing centered.
Many Canon printers unofficially support CD/DVD printing. It seems that Canon disables CD printing on USA models but the capability is still there. eBay is full of Canon CD printing conversion kits. I've never tried using a Canon yet.
Have Fun,
Keri