Make a avi movie of the desired animation using something like Macromedia Director or Adobe Premiere / After Effects and then just playing the file on the splash screen form.
The official "VB" way of doing this would be to just create a hidden form with all the formatting that you want, fill in the various data values when the user wants to print, and send it to the printer with the PrintForm method.
From MSDN:
Using the PrintForm Method
The PrintForm...
You can start by taking a look at the various books available that explain CNC programming and G-codes in detail:
http://www.amazon.com/exec/obidos/search-handle-url/index=books&field-keywords=cnc+programming/