That's quite a large question!
This microsoft article
] will get you started on creating and using (including printing) data reports in VB6. The type of printer connected is irrelevent.
If you search the same site for
vb6 datareport sql
you will find other articles dealing with populating the report from a database connection.
Having said all of that, if this is a new program then I would advise you to seriously consider doing this in .NET rather than VB6 as the VB6 development environment is no longer supported by Microsoft