Some CD/DVD claim 2B printable

I know for some CD/DVDs whose upper surface is very smooth, you would need to use a label. But for those "printable" ones, how do you print on their surface?

If by using laser or inkjet printer, how do you feed the disc into the printer without breaking it? Or it requires some special printer to print on CD/DVDs? Sorry for such an amateurish question but I really don't know and want to learn.

Thanks in advance!