Great question — answering as the UphillTech team:
Do you use some Woocommerce invoice plugin ? If yes, you could use a automatic PDF output then make a batch file (or a software like FolderMill) to automatic print pdf with your printer.
Full answer by Jean R.: https://stackoverflow.stackexchange.com/a/48406381 (CC BY-SA 3.0).
Need it done for your business? UphillTech.
