Rubik 3x3x3 with graphics on the middle squares, produced in 1988.
(plastic, 2.1 inches)

Many promotional versions of the standard Rubik's 3x3x3 cube have graphics printed on the faces that require the middle square to be properly oriented. Rubik's 3x3x3 Fourth dimension adds minimal graphics for this purpose. Here are the directions from from the box lid:



Some Rubik's solutions, such as Marshall's Page, employ transformations that preserve center orientations. For others the centers can be fixed at the end with simple moving around and rotating of the middles that does not affect the remainder of the puzzle. The Dry Erase Board Page gives the following idea:

0. Optional: Rotate an outside layer (or more than one if you want).
1. Rotate a middle layer.
2. Rotate a different middle layer.
3. Reverse step 1.
4. Reverse step 2.
5. Reverse step 0.

Jaap's Page gives specific transformations.

Further reading:
Jaap's Page, from: http://www.jaapsch.net/puzzles/cube3.htm
Dry Erase Board Page, from: http://www.thedryeraseboard.com/mechpuz/333/centersolve
Marshall's Page, from: http://helm.lu/cube/MarshallPhilipp/Rubikfourth.htm