Yes.
You can use Word to record a macro and do your desired action and it will generate module code which you an almost use without any conversion in vb6.
You can use the Word Object Model. Add a reference to MS Word xx.0 Object Library and start with code like so.
VB Code:
Option explicit
'add reference to ms word xx.0 object library
private sub command1_click()
dim oApp as word.application
dim oDoc as word.document
set oapp = new word.application
set odoc = oapp.documents.open("C:\Test.doc")
'Do your writting stuff.
'...
'Do your printing.
oapp.documents("Test.doc").PrintOut
odoc.close
set odoc = nothing
oapp.quit
set oapp = nothing
End sub