Just in case someone has this same problem, I want to tell you exactly what I did.
I have a new 2017 iMac with Sierra and an Epson XP-830 with the CD/DVD tray; I bought it specifically for this to replace my Artisan 800 which got zapped by lightining.
1) downloaded the Apple Epson driver .dmg package as per Berman's instructions
2) deleted everything from my list of printers
3) installed the drivers
4) manually installed the printer by selecting its name and NOT SecureAirPrint or AirPrint
5) reopened PrintCD and selected File >> Update Printer Information***
6) after that last step, I went in and tried to print, and selected the XP-830 from the drop-down list, and it recognized it and was ready to print. VERY frustrating process to have to figure all this out. Step #5 on my list was the crucial bit that was left out of every other list of steps to get this going. Apparently you need the Apple Epson Driver but you need to tell Print CD that you have that before it will recognize the printer.
IMPORTANT! --follow the instructions on your printer. Pull out the tray for the XP-830 and have the disc sitting in it, but do not load it until the printer asks for it, and then follow the instructions on your printer for how to load it. DONT shove the tray all the way in; instead, slide it in (push gently but firmly) until the marks on the printer and the marks on the tray line up. Then hit "start" and it will do the rest. DEFINITELY more complicated than the good old Artisan 800. I may have to get one of those on eBay if this one conks out but it does print a very nice job on DVDs. Looks like laser printing.
Good luck!