I do a lot of printing (point of sales stuff). Generally, i to all the layouting ("printing") on a PNG of the correct pixel size, then send that off to a printer. Either directly as PNG when using CUPS, or converting it to printer specific encoding (ESC/POS for thermal receipt printers; ZPL for Zebra-compatible label printers).

As for specific implementations, i can't really recommend any. This is (for me, i've been doing this a long time) such a standard problem that i just usually write the few lines of code required by hand. Basically, you make the 5 strings, calculate where you want to position it in the PNG and you're done. If you want to go that route: I like to use GD