Systems for providing on-demand cup printing and dispensing for food service are provided herein. A cup dispenser includes a cup source configured to hold a stack of cups and one or more cup-moving elements configured to cause a cup from the stack of cups to move through the cup dispenser. The cup dispenser includes a motor configured to operate the one or more cup-moving elements to cause the cup to move through the cup dispenser along a path. The cup dispenser also includes a printer configured to print at least one of order information or personalization information on the cup that is based on the food service order associated with the cup. The cup dispenser further includes a dispensing section that provides the cup, which includes the at least one of order information or personalization information printed thereon.