Well, I know Okidata made a color printer (Okimate 10) a long time back.  I 
have a magazine ad which shows the 9-pin version targeted at Commodores and 
Atari 800 series, and the 24-pin version targetted at IBMs and Apple II

I would bet few were made for the Commodore, cos of several factors:

-Commodore printers needed intelligence
-People wanted compatibility with the real Commodore printers (so the apps 
which took advantage of graphics ran well)