"Printing to USB printers has been a source of mysticism.
Everyone says it can be done but no one can quite tell you how to
do it. The following text should get you off in the right
"Assuming you are fairly up to date, your kernel will have USB
support and you might even have USB printer support built in. If
not, you will need to compile it in. No, this is not going to
become a kernel howto. Anyway, check for /dev/usb/usblp0. If it is
not there you will need to create it as described on this page. If
you are using a configuration supported by this howto, it will
probably already be there."