You need a digital camera and a printer that accept the same kind of memory card. (You can do this with something called PictBridge that lets you hook up your camera and printer with a cable, too, but we found it much too slow.) It's even better if you have two printers and at least three memory cards (they don't have to hold a lot), because no matter what you do you'll be able to take the pictures faster than you can print them.
Here's how it would work: You'd take 3-5 pictures on the first card, then take that out of the camera and put in the second card. Put the first card in a printer and start printing while you take 3-5 more pictures on the second; then take that out of the camera. If you're done printing from first card, you can put that one back in the camera and put the second card in the first printer; if not, put the third card in the camera, and start printing from the second card on the second printer. By the time you've taken 3-5 more pictures, the first printer should be done.
(We tried this with one printer and two cards at an event last fall, and even though we have a fairly speedy printer we got behind in a hurry. With two printers we would've kept up, and you can get good 4x6 photo printers for under $100. Here's the one we bought, and I think we'll buy a second:
www.epson.com/cgi-bin/Store/consumer/con...kie=yes&oid=63069797)
Good luck!