There was some 3rd party software that did that, Cyrstal, R&R, FoxExpress. But I do not know if they still support a DOS version of their program anymore. You can locate them and ask. All of them are still in business.
Look at the printer manuals and see if you can find the Escape sequences for the printer codes for your particular printer. Then you can embed them into the report in a field expression.
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