Not an easy one!
The Dos Print command is not very clever, and doesn't use a driver, it sends data directly to teh printer port you specify. Unfortunatly, that means that:
a) it won't work at all with many modern printers, as they do not supply suitable connections
b) it is very difficult to do "clever stuff" as you have to output in the printer's language - which is not the same for all printers (hence why you need a driver specific to your model).
A quick Google turned this up though:
Dosprn[
^] - it claims it does what you want, but I haven't tried it. It's free though, so it may be worth your looking at.