Use the simplest SPP mode.
Connect your data port and command port of printer to any 2 port of micro controller.

follow the below algorithm to print character 'A'.

->slct=0
->strobe=0;
->data port='A'
->strobe=1
->delay //find how much it needs by hit and trial method.
->strobe=0
->data port=0x0A //print command this for epson printer,
->strobe=1
->delay
->strobe=0

If it is not working ping me with your printer details.