preferably not too expensive (just a minimalist small printer/scanner that just works)
Linux
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Linux is a family of open source Unix-like operating systems based on the Linux kernel, an operating system kernel first released on September 17, 1991 by Linus Torvalds. Linux is typically packaged in a Linux distribution (or distro for short).
Distributions include the Linux kernel and supporting system software and libraries, many of which are provided by the GNU Project. Many Linux distributions use the word "Linux" in their name, but the Free Software Foundation uses the name GNU/Linux to emphasize the importance of GNU software, causing some controversy.
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Brother printers and CUPs just work. It really doesn't get much easier.
Everyone is saying Brother, and I'll echo that. I want to add that I'm fond of their EcoTank line; there're all-in-one scanner/printers, but also they refill with liquid ink (as opposed to cartridges) and are super cost-effective as a result. I really like our's, and we've had it for two years; the next time I run out of ink on the Canon inkjet we (also) have, I'm just going to replace it with another EcoTank instead of buying more cartidges.
Probably a good old fashioned printing press. Unfortunately, I don't think they're compatible with Linux.