There are printers you can buy with a disc slot where you place an ink-jet printable disc and then it’s just a matter of choosing the mode in the driver when you go to print. I was lucky as my workplace has a CD/DVD burning robot with a printer built in. Not the best quality, but better than nothing. There are certainly better ones out there.
Is something like that expensive ? Would printed sticky labels be a bad thing ? I know it would be cheaper and easier…