HP makes printers that print discs, but in my experience their image quality is significantly inferior to Epsons.
I've used low-end Epsons for disc printing for a long time, since the R260, and while their image quality has always been good, Epsons had always been very cranky in operation until the 700/700 series. Epson has finally gotten the operational characteristics of its low-end disc printers just about equal to the image quality.
Even the 700/800 series still tends to do a whole lot more creaking and groaning than I think it should, but at lease they now have built-in disc carriers and they seem to have solved the problem of clogging print heads.
For discs I also vote for Taiyo Yuden watershield.
I consider having the right software an extremely important factor as well. Third-party disc printing software is always more robust and usually less peculiar than manufacturer's software. Moreover, if you do change printers, your older files are not orphaned.
I particularly like Acoustica CD Label Printer (about $21 USD from acustica.com). They keep it updated for the latest printers (including LightScribe), it's quite powerful and quite easy to use. I especially like the easy way it can be adjusted to precise disc print area measurement.