Regardless of platform, Python (or most languages) has no built in idea of a thing called a printer.
Generally it is the OS that knows what a printer is.
On your desktop a program creates a file which it sends to the OS, and the OS then sends the file to the printer.
If you want to use Android's printer api from Python, you can access it via Pyjnius
I do not know of a Pyjnius example accessing a printer, which does not mean one does not exist.
I don't know what your skill set is, but a printer driver is absolutely not a beginner task.
And depending what format data you want to print it can be a big challenge. Just so you know.
You may find it easier to save whatever you want to a file in some standard format, and use a 3rd party print app.