It isn't possible, there are no toner based printers that do it at even similar to affordable cost. You have to print full bleed on a larger size then trim the paper itself down after it is printed.
This isn't a Xerox matter, the competition is no different
I have hp printer but i found that following steps will solve your issue.
In the Xerox printer properties dialog box, click the Paper drop-down and select "Other Size..." Then in the "Original Document Size: drop-down box (4th drop-down box from the top), choose the desired paper size. Then click Close, OK, OK, and when you return to the PDF document it will show the dimensions of the new paper size chosen.
Does the phaser 6510 have edge printing? I want to print a picture without any margins. How would you go about doing this if possible?