Hola!
It’s a real possibility I think:
If your printer is already installed on your device (phone or PC) and can print any document, I think you could use the @Loqode 's solution creating a HTML template earlier and send it to your printer
Here is how all this works 🎓 Create Unlimited FREE PDF's (No Integrations/Fees)
Saludos @Ethan_Nguyen