They were only ever released in Japan, and only had limited support, but that doesn't mean PS2 users elsewhere were left out - certain games released in North America and Europe (Such as Gran Turismo 4) also supported certain models of Epson printers for printing out screenshots saved to the memory card or USB flash drive!
There doesn't seem to exist a comprehensive list of PS2 games which had printer support, but it would be interesting to see one compiled!
The PS1 and Saturn also had printers, and even had a word processing application called EGWORD released for them! The Saturn version even supported the system's add-on floppy drive, keyboard, and mouse, and was even recently translated into English!
The Saturn also had an official printer released by Sega, but it's a bit misleading to call it a Saturn accessory, as it just printed out stills captured through a composite video input jack. Thus, it could print just about any composite video source, but was meant to be paired with Sega's Saturn, Pico, Picture Magic graphics tablet, and Digio camera.