I just purchased a Pixma from Canon which has direct disc printing for a single disc at a time. It works great, but it is not the most user friendly device out there; but it is reasonably priced and does a great job, especially when using a quality blank disc.
https://printinginnovations.cusa.canon.com/pixma/cd_dvd_printing?cm_re=home-pixma--tile-slide-out--cd-dvd-printing