I've found the only way to do it cheaply is to use a consumer grade printer that will print directly onto discs. They tend to be a bit clunky, but it's a better choice than applying labels to the discs, and are much cheaper than the higher quality alternative, which is buying something like a Bravo II disc publisher. I have one of these printers myself, and the print quality is fine for home use. I haven't had any significant problems with it. There is a 3rd alternative, which is buying a thermal printer, but they are not cheap either.