I have an Epson RX595 which prints directly on inkjet discs, and it does a respectable job.. I doubt you can get them new anymore (I paid $300 like 5 years ago), but I would think a newer version would be as good or better. It takes about a minute-ish for a full color label, about 30 seconds for a black and white..
The only other thing I can suggest is 'burnable' labels.. Lightscribe, burns the label onto special discs with a special drive, but they are a bit expensive and the color scheme is reminiscent of the OG Game Boy "creamed spinach" screen. Labelflash gives you more options (including Disc T@2, which is kinda cool) and a white/blue color scheme, but still needs a special drive and the discs are also expensive. Both also can take upwards of 20-30 mins per label.