User-defined characters in ESC/P printers?

Question

Printers

Does anyone have experience or source codes for programming subj with ESC commands, in particular "ESC &"?
This is the creation of your own "drawing" of characters through a bit-matrix, knowledgeable people will understand.
I can not figure out how to do, save, load, achieve compatibility with different printers. The search did not bring sane sources.
For old inkjet, matrix and modern thermal printers, at least some information is needed, in addition to the documentation that is available.

Answer 1

In 1996, I wrote my graduation project in Turbo Pascal 7.0, sending ESC commands to the parallel port of Epson-compatible dot-matrix printers.
As part of the project, it was required to print the text in the GOST font B with an inclination.
There I drew each character in a matrix with a height of 24 points.
On the Epson Ctylus Color 460 inkjet, such garbage simply did not work (there was no hardware support for custom matrix fonts).
Since I didn’t want to remake the program for Windows, I had to write a simple function that converted a text string into ESC sequences for bitmap printing of graphics in an 8-point matrix.
Thus, one line of "text" with a matrix of 24 dots was printed with three lines of "graphics" with a matrix of 8 dots.
The LPT traffic of this solution increased by more than 60 times, and the print speed decreased by 4 times (compared to printing with an embedded font).
But, again, in itself, the speed of inkjet printing was initially much lower than the speed of printing on a smart matrix (Epson LQ 24-pin) printer.
In your case, you can advise to generate a logo once, and save it as ESC commands in a text file, which then you just need to copy to the LPT port.