You can set up a printer from the account section of the application.

Navigate to the menu by clicking on the menu icon:

From the menu, click on the "Device Profile" section to view account preferences.

Select "Set Printer" or "Set Kitchen Printer" 

Enter the iP address of your Epson or Star Micronics Printer and tap "Set"

You should now be able to print. From any screen that you see the above print option, click "Print" to print from your configured printer.