Don:
I could suggest that you look at the UC2950 part from TI as a replacement for the motor driver portion of the Sanyo chip. The Texas Instruments data sheet is here: UC2950 Data Sheet. If you want to search for other suitable parts one term to use in the search engine is "half bridge".

I would be a bit concerned replacing the 7 wide thermal print head driver part of the Sanyo chip with the typical '2003 chip. The Sanyo part sports a current rating of 400 mA per output whilest the typical '2003 chip is more like 250 to 300 mA per output. I have seen some applications where designers have paralleled drivers within a '2003 type part to increase the current capability. If you did this you would need multiple packages. It is best when paralleling to make sure that each paired driver is in the same IC package. (Note also that some vendors have started to discontinue some of the '2003 type parts so make sure you check the part you select carefully).

It may also be possible to replace the thermal print head dot drivers with a MOSFET array instead of using a darlington transistor arrangement. The darlingtons are used because they offer very high current gain whereas the MOSFET transistor has a high impedance voltage drive to the gate and can easily be had at current ratings similar to or better than the Sanyo part.

Michael Karas