The main cost of making these cds is paying the publishers of the music, which as you said is usually not a problem. In my experience, I have been aware that recordings were made of my performances, and the fee I have received was based on my performance. As a small-scale printing will likely not be profitable enough to merit any significant payment to each individual musician- I would recommend simply informing them that a small run of the performance will be distributed with the church and ask if they are ok with it.
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