At least one - the Canon Pixma 830 - will do the job for you.
I'm in Australia and use an older Canon Pixma 4200 and have printed DVDs and CDs without a problem for 2 years and with outstanding results.
I'd have no hesitation in suggesting you get one.
Strangely, the CD/DVD printin is often never mentioned. I had exavtly this problem when I was looking myself. After searching, I found ONE reference that the 4200 printed disks so I went ahead and bought it.
I found an MP830 at ebay australia (Buy It Now AU$437)
and at ebay, US (12 hours to go, US$165.00}
You shouldn't have any trouble locating one wherever you are.
I've searched high and low for an all-in-one inkjet printer/copier/scanner/fax that will also print directly onto CD/DVD media. It would be even nicer to find one that I could hook into my wireless network. I've found several that were close, but lacked one element -- usually the fax or the print-onto-CD capability. Does anyone know if such an animal exists? And if so, where I can find it?