@Karsh It is possible, using the following URL format:

https://{acctid}.<http://app.netsuite.com/app/accounting/print/hotprint.nl?regular=T&sethotprinter=T&trantype=|app.netsuite.com/app/accounting/print/hotprint.nl?regular=T&sethotprinter=T&trantype=>{type}&id={id}

For example:

<https://123456.app.netsuite.com/app/accounting/print/hotprint.nl?regular=T&sethotprinter=T&trantype=cashsale&id=2345678>

awesome, let me try this. If it changes, we will change it up then.

That link only works for logged in users. The only way I know of to do it without a log in would be to create a custom Suitelet script to generate the PDF and making it available without login, but there are some security issues to consider with that approach. Obviously, that requires a bit more work and maintenance as well.