I did something similar with a receipt printer. a thermal usb receipt printer is like $75 dollars and easily controlled by python. Super easy to print out images and QR codes. and the autocut functionality makes it easy to segment messages. Additionally the receipt printer is nice because you can activate the bell inside as an additional "notification" and has an extra control for a cash drawer that I am thinking of…
Whatever vendor(s) decided that the restaurant industry needed to switch over to thermal printers, I hope Cory Doctorow has a chat with them. "Let's just tape this thermal receipt to your to-go container, and ... refund? What do you mean refund?"
However, thermal receipt printers at restaurants seem to be among the cheapest ones around - you can get thermal printers that result in receipts that withstand decent temperatures (but, obviously, not all).
Many shipping labels are printed by direct thermal printers and those labels stand up quite well. Check Zebra for examples.