>> ... Is there any printer language which supports HTML ...
Not as far as I'm aware.
Most LaserJet printers (except for the cheaper ones) support the three traditional Page Description Languages (PDLs): PCL5, PCL6 (a.k.a. PCL XL), PostScript; some of them also support 'direct PDF' printing, and (not sure) a few may also support native XPS streams.
Cheaper (host-based) ones use proprietary langauges such as JetReady.
You'll have to translate your HTML (layout) / CSS (formatting) into something which the printer understands, either using an appropriate application and driver, or 'hand-crafting' the translation.