Unless the printer natively supports a given font, then the Generic / Text Only printer driver won't print the font "fast" - and it's unlikely to support a barcode font.
Back when I was doing DOS based applications there were a couple products that would print barcodes using the "graphics" capabilities of Epson compatible dot matrix printer (using a lot of escape sequence codes). Once you understand the format of the barcode you are plan on using, then the code, while tedious, isn't that complicated (the product I purchased even had FP source code).
Hallogram may still have copies of these DOS products - I really haven't checked.
On the other hand, laser and inkjet printers are so cheap now, why not upgrade?
Rick