A printing system capable of concurrently processing and scheduling a plurality of job streams and including at least one marking engine and multiple print media destination is controlled by a controller that includes a jobs scheduler for determining a schedule for processing queued print jobs using the plurality of concurrent job streams. The job scheduler determines the schedule using a method including: determining a utility function dependent at least upon user preference delay criteria, and the schedule of the queued print jobs; and optimizing the utility function respective to the schedule of queued print jobs.