Zebra supposedly has some EIP printers but Ive never dabbled with them.
I still use the tried and true panel mount printers that have RS232 and just send my ASCii strings to them that way. Pretty simple once you get the hang of it. I've done it on Micro800 platform, Micrologix, Compactlogix 5380's, all the same general idea but they all have their differences for sure.
I'd recommend looking into Omniprint printers, you can get them in 24VDC power if you ask and they are simple to wire, simple to install into the panel cutout, simple to set baud, nice little units for being pretty inexpensive.