In case your printer supports a parallel interface connection (Centronics) you probably could use a Mac serial port to parallel interface converter and an appropriate driver software. Probably, because some more recent printers are accessible only using Windows specific drivers. You might look for a hardware/software combo like PowerPrint with TScript or similar. Before you spend money on extra hardware check the serial port for proper operation, as some 5xx models tend to suffer from serial interface malfunction.