Out of the box, look at Zebra. They have desk and mobile options. 24R1 supports setting up ZPL (text) templates for reports which can be triggered with BPA based on system events and directed at IFS defined printers. Label format depends on the printer type and is defined in the ZPL report template (I think the largest is 4”x6” used by shipping guys gFedex, DHL etc]). If you need barcodes on the letter (A4) reports (order form etc) you can print at any network printer defined and configured in the system, no limitations there.

You can also look at an integration with a label printer software such as Bartender or Loftware. Then the list of printers is the one supported by the 3rd party package.