Best tool to print directly onto CD

OK, so i've edited my footage in FCP and burnt it to DVD.

How do I print my own design onto the DVD? I currently have a Epson Printer, but I can't imagine it being successful to put a CD in the paper tray...

I have only seen one professional CD/DVD printer ( http://www.amazon.com/gp/product/B000OSLHFK) didn't get a great review and is pricey. Are people using labels and if so, what results are you getting and how are you achieving them?

Thanks