|It depends on the application. Most DOS based apps with printing abilities came with their own printer drivers and you need a driver from the manufacture of the application for your particular printer. As USB came out long after DOS it is unlikely that you will get one.|
Even then it is unlikely to work with Windows XP as DOS based printer applications usually communicated directly with the hardware, something you cannot do with Windows XP.
As there is no DOS in Windows XP, only a DOS emulator which does not allow direct access to the hardware.