I printed form javascript to a Star Micronics Webprnt TSP 654ii thermal printer. This printer is a wired network printer and you can draw the content to a HTML canvas and make a HTTP request to print. The only caveat is that, this printer does not support HTTPS protocol yet, so you will get a mixed content warning in production. Contacted Star micronics support and they said, they are working on HTTPS support and soon a firmware upgrade will be available. Also, looks like Epson Omnilink TM-88V printer with TM-I will support javascript printing.
Here is a sample code: https://github.com/w3cloud/starwebprint