printing on a paper is like checking coal consumption of a cpu to you huh. what year are you in now?
most home/office network printers supports direct port access printing. even with usb printers connected to a pc or a router and being accessed over the network. so you won't need drivers specific on printers.
im doing it via php. haven't tried directly from ESP8266 though.
right now, a sure way to do it from esp, is, esp sends a HTTP request to a php file on a server.
well, that will require a server, like a pc or a raspberry pi, or in my case, an OpenWRT router ( at least I don't need to spare a raspi or a pc running 24/7 for a server when my router is running OpenWRT. my router is my small server too).
Then your php file will do the printing request to your printer.
1 paper a day for whatever you are measuring seems a lot (but not not comparable to checking coal consumption of a cpu).
can't you just log it on a database?
you can make a web app that display your measured value on a table. then you can add analysis, control, trigger, etc on you web app too. and you can always print your log files whenever you need to.
I do Web-based Paperless Equipment Monitoring in semicon industries. I attach ESP modules to their machines.
I always tell my customers, "go paperless and automated logging. when you shift to paperless, searching, backtracking of your logs will be very very easy. among other advantages of paperless logging".