If he had a clue about the situation...
...we would know that that "hacking a printer to cause a fire" thing was mostly PR. The fixation unit of printers has a hardware overheat protection once it gets to hot. Essentially there's a little heat activated fuse. So even if you manage to put new firmware on (which is unfortunately possible without interaction on the printer itself), you can only break it, but not cause any problem. And fixing printers would be simple, just put an "upgrade firmware" mode into the menu, perhaps allow for a PIN to be required, and have it not print anything while that mode is on. If you have an USB interface, you can even upgrade your firmware from that, instead of "printing" it to the printer.
Signing firmware will only make it harder for legitimate changes to the firmware, for example to get out security holes by removing services you don't need.
For actual attacks changing the firmware probably isn't a sensible way to go. It's far easier to use the features provided in the default firmware. I wouldn't be surprised if there are postscript engines that allow for network access.