Brother printers and CUPs just work. It really doesn't get much easier.
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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.
preferably not too expensive (just a minimalist small printer/scanner that just works)
Probably a good old fashioned printing press. Unfortunately, I don't think they're compatible with Linux.