Mainly there is not to say, if you have a regular ASCII line printer
(who does, these days?) there is a good chance that there are Hebrew fonts
in it on the EPROM chip.
If you use PostScript, you should download soft fonts to the printer (you can always use the earlier mentioned Web fonts for that. These fonts are also useable with Ghostscript).
If you have a PCL printer (LaserJet etc.), you can either use font cartridges or use Ghostscript.