Alot of Media Center'ish PCs (HP, Compaq, etc) are coming with LiteScribe burners built in. These use the laser to write the labeling. I think you might have to use special CD-Rs, not sure, but look into it. Probably not the most effecient way as you'd have to flip each CD after you burn the audio to "burn" the label.
I just took on a CD project for my Synagogue. I did the recording and am in the middle of duplicating. I just got a bunch of those sticky labels, found a PDF template, made a label in Publisher and use my HP PSC 1610 to print them out. I then fire up the laptop and burn copies while I watch movies/TV/etc... Not too effecient, but it's better than having the Synagogue spend money they don't have on "professional" duplication!