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I've found one, but it is a thermal 40 col battery job. (only prints 100 recipts before you need new batteries):
I haven't seen a truly usable "portable" printer yet... but maybe if you found a small printer (maybe one of those "snapshot" printers they're making for digital cameras?) and combined it with an irDA add-on package, you'd have a pretty compact printing solution...
You have a color Palm right? Get a plug-in digital camera for the PDA while you're at it, and you could be Mr. Do-it-Yourself Digi-Polaroid!
Maybe not such an issue for a printer, but be sure to get something with some surge protection schema on this. Car power supplies are quite prone to spikes from what I hear.
Those fancy UPS boxes for "surge protecting" entire networks = an inverter hooked up to a backup power battery. In the case of the cig. lighter inverters I'm talking about, your car would just be providing the backup power battery.
Assuming you're not using it on a super high-end laser printer (and since we're talking portable here, I'd assume you're not), a small modified sine wave inverter *should* work just fine.