That said, sniffing and replaying packets might get you pretty far.
It's going to be a really big project even for someone who has designed a printer and written a driver for it. (Linux has built in drivers for all of these things, amazingly!) Now you have the basics of the communication down, and you can consider looking at wading into the undocumented archana of a proprietary one-off printer. If you really want to crawl before you walk, skip USB and attach these things to a Raspberry Pi or similar.
Make it show up as a device you can write 3 bytes to and turn the onboard LED that color. Get a USB-capable arduino, try making a rotary encoder attached to it into a Linux input device. If you want to start reverse engineering stuff, I'd get the "forward engineering" down first. If you need a hard copy of a document, just email the thing to Kinkos and be done.
I think that it's good to separate "I need a hard copy of a document I have" with "I'd like to learn how to reverse engineer proprietary hardware". This is the best advice I've read so far.
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