TealPoint™ Software WITH MODEL IR

If you're not a software developer, and you just want to print text from existing Palm
applications such as MemoPad, ToDo Lists, Address, Schedules, then you may
consider using TealPrint™ printing solution from TealPoint Software. You may
download trial software from their site.

Use the "Infrared" setting in TealPrint which supports the required PalmOS IrCOMM

TealPrint also offers instructions for developers who wish to write their own application
incorporating printing support using TealPrint™ :
TealPrint Developers Page