Actually, a shell script would only be three lines or so. I don't think AppleScript by itself will do.
Here's a simple step-by-step instruction how you could do it.
1 Make sure your remote machine can be reached from outside
This depends on your network architecture in your office. In the simplest case, you have to enable port forwarding to that specific machine. If your company doesn't have a fixed IP, I would recommend using dyndns.org so you have a dns name whose IP is updated on a regular basis.
If you have a more sophisticated network, and each machine can be reached from the internet, it's even easier.
2 Create public and private SSH keys
Read here how to do it.
3 Make sure you can print from the command line
Open the Terminal and choose an appropriate document, e. g. a .pdf. Enter `lp "[name of pdf]"'. If the document is printed, you are set to go.
4 Create the print script on your remote machine
Open your text editor of choice on the remote machine.
Enter
lp -d [printer name] $1
(If the Epson printer is the default printer on the remote machine, lp $1 will suffice.)
and save it in a suitable directory under a suitable name, e. g. ~/Library/unix/remotePrint.sh. Use chmod 755 ~/Library/unix/remotePrint.sh to make it executable.
6 Script on your local machine
Create a script on your local machine and save it in a suitable directory.
It should contain something like
scp $1 [username on remote machine]@[name or ip of remote machine]:/tmp/
ssh [username on remote machine]@[name or ip of remote machine] /Users/Library/unix/remotePrint.sh
7 If you want, you can wrap this in a simple AppleScript.
do shell executes a shell script under AppleScript. Make sure to use the file name as parameter.
Then create a droplet on your desktop or so which allows you to print a document by dragging a pdf or so to the droplet.
Note that I'm just outlining the basic ideas here, this is by no means a complete solution.