I've always been a fan of Twibright Optar.[1]
"Optar stands for OPTical ARchiver. It's a codec for encoding data on paper or free software 2D barcode in other words. Optar fits 200kB on an A4 page, then you print it with a laser printer. If you want to read the recording, scan it with a scanner and feed into the decoder program. A practical level of reliability is ensured using forward error correction code (FEC). Automated processing of page batches facilitates storage of files larger than 200kB."