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Accessing printer using assembly
I guess my answer depends on what you want to accomplish.
If you use a 3rd party driver there should be no reason you cannot communicate with the service that then communicates to the printer. Example would be using CUPS or the WIN32 API to have the usermode application print to the already installed printer. This can be done in any language from ASM to python and beyond.
If you want to talk directly to the hardware itself, you will need to write your own driver and implement it in kernel mode.