We use Securegive for our one kiosk. The hardware is getting old (Celeron processor!) and was looking for options to replace it. It is a tabletop version with touchscreen, card reader, and printer built in. (http://securegive.com/our-platform/kiosk-giving/s-line/)
Check out Vanco’s solution. Meets your criteria, integrated with most ChMS solutions, tough to beat for the price, and every Vanco account comes with a free mobile giving app. http://connect.vancopayments.com/give-by-kiosk