The ones that most people I know use is the flat tape. I have the Brothers label makers that I can connect to my computer to make it easier to do a lot of labels at one time or you can use it without the computer. It wasn't too expensive, I think $70, but they have good ones for less as well.
I only use it on my named cultivars because I have way too many seedlings, that may be tossed in one season, to make it for those.