A Google search will provide many options. I have used inkjet printers from HP and Epson with good results, though the discs need to be manually loaded, so it is tedious work. Hard to find models that print discs anymore, but probably $100-150 range.
There are many companies selling robotic loader/printer combos, starting out with the XLNT Idea Nexus Pro Blackjack at under $1000, and they go up from there in price/quality for higher-volume pro needs.
There are different print methods including inkjet, thermal-transfer, and silk-screen (the latter being for replication, usually high-volume orders only).
There are companies out there that will print without duplicating, but you are buying the blanks from them, and then you burn. I found a place that burns/prints/packages, with full-color print on disc and the DVD case sleeve insert, shrink wrapped, at $1.75 per unit. All automated online ordering that you control. Just upload the graphics and content and place the order at kunaki.com and I've been pleased with the results.