Possibly with some modification. It uses the B4A Serial library to connect to a Bluetooth printer and uses AsyncStreams with the input and output stream from the connected Serial object, though the input stream is not used by the EscPosPrinter class.
I don't know how much of the B4X language is implemented in B4R but once the printer is connected the actual printing code vectors all output as bytes through a 'WriteBytes' function and strings through a 'WriteString2' function which you could modify to send the data to however your printer is connected. I don't know if B4R supports Unicode internally so there might be mods needed to the 'WriteString2' function which re-codes Unicode to the printer code page.