Take a look at the C++ GUI Programming with Qt 4 book, there's a chapter dedicated to document creation and printing that should give you a good overview of what is possible. Even if for a Qt 4, there are still relevant stuff for Qt 5 in there.

Hi Narayanan, Did you find any other alternative for this printer support on Android? Implementing ourselves is definitely an option but it can be quite a process if your application has to support more than 10 types of printers.
Do let me know as it would be helpful piece of information.