Nest Wifi does not support Wi-Fi Protected Setup (WPS) because it's not secure.
This should be mentioned in the Installation manual that came with the printer but essentially connect the printer using USB to a Windows or Mac computer.
Then use the program that came with the printer on the driver-CD or that you can download from the Epson website. The software saves the settings to the printer. After this you can disconnect the USB cable and use the printer via Wifi.