A simply call:
cat /dev/usb/lp0
This should work if your printer supports bi-directional communication via USB.
Tested with a Zebra label printer this way:
$> echo "~HQES" > /dev/usb/lp0 && cat /dev/usb/lp0 PRINTER STATUS ERRORS: 0 00000000 00000000 WARNINGS: 0 00000000 00000000