Epson receipt printers have had network modules / adapters for 10+ years. Both wired and wireless.

IIRC you have to sign an NDA to get access to the documentation for the Epson ESC codes to do things like bold, inverted text, bigger fonts, print images, cut the paper, etc.

I used netcat to write bytes to a network printer 10+ years ago. It was pretty cool. You can also write to the serial port for serial printers, with the same bytes. It's very simple.

If you want an impact printer, you probably want to use the Epson TM-U220 series printers: https://epson.com/For-Work/Point-of-Sale/POS-Printers/TM-U22...