Google Cloud Print works like a charm!
Here is the link I used to set up the printer:
https://support.google.com/cloudprint/answer/1686197?visit_id=637270605763391234-2109895282&rd=1
I’d recommend setting up the Zap first then connecting Zapier to Glide and setting the values for the fields.
I haven’t tried with a thermal printer, but connecting the thermal printer looks like the same process as connecting a printer that’s not cloud-ready. Here’s a link I found for a thermal printer provider:
Happy to set up some time to walk you through this 
Keep in mind that Glide has a limit of 12 values for Zapier, hopefully, that’s enough for your needs.