Mostafa,
TI-RTOS 1.21.00.09 supports HID Host and Device (Mouse/Device), MSC Host, and CDC Device classes. I don't know what type of host driver you need for a printer but you probably need to create a USB Host driver yourself (unless someone else has done so already).
For the DK_TM4C129X, you should reference the USB Library User's Guide in TivaWare. You can find it in:
C:\ti\tirtos_1_21_00_09\products\TivaWare_C_Series-2.0.1.11577a\docs\SW-TM4C-USBL-UG-2.0.1.11577.pdf