This is next to impossible.

USB is assymetric - there are "masters" (host) and "slaves" (device).
We know of no '51 derivative with USB host implemented (that requires both hardware and software), so you have to use something "in between". But even if you would have such, inkjets tend to have proprietary protocols, which are not public, and often there are no drivers available even for PCs not running Windows (running e.g. Linux).

These two obstacles, each one hard enough in itself, make it absolutely impractical to attempt this. Search for alternative printers instead, which come with serial interface and available protocol. Yes, I know, these are not the mass-products, hence not that cheap, nor easily available.

JW