Hi

There are many programs available for doing this. 

Examples are Epson CD (for Epson printers), Nero Cover Designer even Microsft Word - a quick search of the Internet will get you many options.

I use Epson CD and Nero Coverdesigner, with printable CD/DVD/BD discs, printing directly to disc using an Epson printer.

I personally cannot recommend using adhesive CD/DVD disc labels - discs tend to be spun a high speed in modern drives and I have found they tend to vibrate too much when paper labels are used.

HTH

John