Create a bunch of private keys at bitaddress.org.
Convert private keys to 176 x 176 pixel QR codes (sample pictured above).
Convert QR codes to thermal printer format. Sample QR code in thermal printer format: BTC_4.btc
Here’s a hack that makes this process a snap:
https://github.com/mayosmith/BitcoinQRMaker
Here’s are two wallets that can read the QR code: