使用WebService在纸上打印的最佳方式

Summary: Basically, I would like to create an local webservice that can receive text files and print it on paper.

Why a printing service: I need that all requests made by a client generate a log on paper. It must be printed on paper without any user confirmation (automatically).

I was thinking to use php (since my webserver is written on PHP). But according to this:

php cannot easily access hardware. This is generally not considered "possible".

So, are there alternatives? PHP is desirable but not obligatory.

Extra: This printing approach must be customizable, allowing creating a "page template" with e.g. custom margins, colors; and print every time using this template.

Edit 1: Using SO resource, is it more possible? I am using Ubuntu as server.