Yes although any thermal printing I've ever done creates a print out that fades over time, so probably a horrible solution for backup codes.
Edit: I seem to be misremembering; direct thermal transfer printers aren't available with long life prints, only thermal transfer printers are.
https://www.zebra.com/us/en/resource-library/faq/difference-...
Which is also thermal printing, but not the kind used here.
A cheap thermal printer for kids is around 10-20 USD (got one for such price with 10 rolls of paper, half of which is sticky paper), has bluetooth, usb and battery. Fits in a pocket. Would be fun to stick such qr code inside some not important book left lying around.
https://www.smh.com.au/business/consumer-affairs/controversi...