Print on Esc-pos Thermal Printer

We have an ordering app in Javascript and we need to print the receipt on Esc-pos thermal printer ( WIFI, BlueTooth, Usb ) directly from web app using javascript without using standard print command that shows a dialog box ( after user presses print button in our app, printer must print instantly without showing user a standard print form ). As our app is cross platform , we are not expecting to develop any middle ware for android, ios,etc to be installed on device. We need a developer to have the same experience using Javascript and having Esc-pos printer with above mentioned connections for testing purposes.