This perl script is fun..
http://www.phfactor.net/code/hpset/
Requirements

1. A networked HP printer, HP4M+ or later, with JetDirect card. Tested on 4M+, 8150DN, and 8500 so far. The later machines appear to lack lower case characters, for some reason, and all of them have varying lengths of strings they can display.
2. A host able to connect to said printer and run Perl.

Usage

hpset -m my.printer.com 'Chode Rules'
hpset -m hp.marketing.example.com 'YOU ARE WEASELS'

Actually, the quotes are optional:

hpset -m hp2.example.edu Lunch wasn't Really Chicken

There's also a -p argument to set the port, but as far as I know they all use port 9100. To reset the message, either reset the printer or run hpset with the default message, usually 'READY'.