T.H.
yes, sign up for some sort of website. Shutterfly will let you print to Target for pick up and Snapfish lets you print to Walgreens. I prefer those sites b/c they have great prices and deals all the time. Plus, you can have them shipped or pick them up, whatever is easier.
You can print off CDs at Kodak kiosks that are located in places like Target, etc., but it's way easier to just upload them to a site and go from there.