As Ken has mentioned, MS Streets & Trips has the ability to import addresses from a spreadsheet. It also has the ability to print (separte)directions. You will face a few interFace questions:
With pizza delivery, I would think that your POS register is pulling up the customer by their phone number, including their address. Your register will need the ability to export the names and addresses to an Excel spreadsheet. I doubt it has this function, but maybe the developer could write an application for a small fee.
If this function can not be obtained, then the cashier would have to manually build the address list on a separate program. If you are using a computer as a register, then everything could be run off the same machine. And, for the increased efficiency, it would likely be worth the manual effort. However, extreme accuracy in writting the list would be needed. And, this might be hard to maintain in rush hours.
Once the address list is built, it would be imported into S&T. S&T would then be used to "Optimize the Route." That is, S&T has a function to find the best route to connect all the delivery locations. After this function is completed, the "Get Directions" function will provide written directions for the delivery stops and place them on the map as individual icons.
As for using the credit card printer to print (just) the directions, this would just be a matter of finding a printer driver for the credit card printer. However, a separate full page printer would be worth the investment. It could print the map (a picture is worth a 1,000 wrong turns) and the directions large enough to read in a [stopped] dark car. Additionally, experienced drivers may know quicker routes (due to traffic or construction zones, etc.) or areas to be avoided (ganglands), just by looking at the map.
Ken and I reserve the right to charge consulting fees in arrears, if you are a national mega pizza company
Tom