I have been happy with Createspace. It produces cheap-for-trade-quality sleek paperbacks, faithfully renders my cover art, is relatively easy to interact with in all the ways I haven't chosen to delegate (and easy enough in those other ways that the delegate-ee is willing to work for one signed copy each of the books in question and a frontmatter acknowledgment and nothing else), and doesn't cost any money up until I actually tell them to send me a book. I will happily show you three different volumes I have had Createspaced if you would like to see a physical copy and arrange to be near mine.