Hopitality domain: printing kitchen order ticket

I need to print order ticket to the kitchen when the waiter input the order to the system after taking order from guests (the kitchen is distant to the waiter location).

Is this feature applied already in ERPNext hospitality domain?
Or if not straightforward, what is the existing way around?
Or do I have to customize?

Thank you.

There is option to Allow Print Before Pay in the POS Profile.
But it doesn’t allow using different Print Format.