Jones, who was instrumental in growing the Merthyr Tydfil business, joined the family-owned business in 1955.
Heidelberg UK managing director George Clarke paid tribute to Jones' personal and business virtues: "You meet a few characters in this industry, but Gareth had some special qualities. He built a very successful business and I have rarely met a father and son team that worked so well together."
Jones' son Andrew is chief executive at the sheetfed magazine specialist.
Pensord Press chief executive Tony Jones, a former joint chief executive of S&G who worked with him for a number of years, also paid tribute: "I've always had enormous respect for Gareth. He will be sadly missed."
Jones' funeral will take place at the Calfaria Baptist Chapel, Aberdare, on Thursday 4 November.
Donations to Cancer Research Wales should be sent c/o Andrew Jones at S&G.