How do you connect a Sony digital camera with a USB mini B cable to an Epson photo printer?
If the camera supports direct printing or the printer supports direct connection to a camera (which it sounds like they don't) you would simply connect them together using the apprpriate USB cable.
Otherwise, you need to use a PC or a laptop with at least two USB ports (one for each device) and the appropriate software installed.
The software to retrieve the photographs is usually bundled with the camera. Printers also need their drivers installed to work properly.
Most PC's and laptops support USB these days.