Yes, you will need to download a driver from Epson's POS division:
You will need to register to get access to drivers.
Alternatively if you don't know what model your Epson Printer is call (562) 276-1314.
Model number of the device will be on the white sticker on the side of the receipt printer. Should look something like TM-XXX.
Download the Advanced Printer Driver. Install the correct model. Choose parallel port for older models, USB for newer (look at connection to computer).
Restart the computer to complete the install. The printer should automatically be recognized (no need to Add a Printer...).
To get access to EpsonExpert.com you can use the following info: