I use an HP PSC 1350 All-In-one for text and general color printng. I also have an Epson Stylus Phot R340 that I use exclusively for printing on DVD-Rs. The latter works pretty well, although the look isn't totally uniform when I print darker colors, which is especially visible since my DVDs are pretty much just text on a simple, one-color background. Still decent, though. One technical aspect that I don't like about it is that while it uses six ink cartridges (one black and five color), it still uses ink from all of them when I only change one. It kind of defeats the purpose of having individual color cartridges, you know.
I experimented with the R380 model, which uses Epson's special Claria ink that's supposed to be highly resistant to smudging, humidity, etc. On paper, it really does work great. I couldn't spread the ink by rubbing it, and it truly is water-proof.
Unfortunately, I can't say the same about the ink's resistance on DVDs. The quality is excellent, better than the R340. But even after several days of drying, the ink comes off really easily if there's even the slightest amount of moisture on my fingers. I don't mean when my hands are sweaty. I mean the normal very slight stickiness/oiliness that hands often have. I barely touch the surface, and my fingers leave white fingerprints. Smudging is also pretty bad. I tried adjusting saturation and other settings, in case too much ink was used, but it didn't make a difference.
Naturally, one should avoid touching the surface of a printed DVD as much as possible, but it's hard to avoid completely. With the R340's ink I can handle the DVDs without worrying about ruining the printed picture, as long as my hands aren't wet. The ink holds fine even after just a few hours of drying. With the R380, I can only touch the ink if my hands are 100% dry, which doesn't happen all that often. It actually feels sticky even after several days.
Anyway, as impressed as I am with the quality of the R380's printing, the surprising lack of smudge and humidity resistance on DVDs makes it useless to me. It's really a shame. At least the R340 does a decent job, enough to print DVDs that I can sell without being too embarrassed.