https://phomemo.com/products/m221-label-maker
Is the one I went for. I like the flexibility in being able to use different width rolls. I don't have a lot of suggestions other than that, since it depends a lot on which use case you have.
I think all of them use the same app (don't quote me on it), which had decent enough reviews: https://play.google.com/store/apps/details?id=com.project.aimotech.printmaster
I'm sure there are other brands too.
Don't know if you'll get something for as low as $20, but a small thermal printer. Functions as a label maker on steroids, there is no ink, or proprietary* paper. Some thermal paper rolls have built in stickers, some are transparent, some have special shapes and colors, etc.
I've used it to label plants, tools, cables, boxes, so-so-many gridfinity boxes. It takes 1-2 seconds from hitting print to having it ready.
* not entirely the case, in that some have set sizes, or markings to automatically feed and count. However, these are low tech, and there are third party vendors.