There was a technology called lightscribe that could do that. You would have to buy the DVDs and burner, but the cost might be cheaper than any online service.
https://www.amazon.com/HP-615646-001-575781-501-TS-H653-lightscribe/dp/B00OZO6ANS/
https://www.amazon.com/Memorex-Light-Scribe-20pk-32024732/dp/B000CCE7DM