I think I've found a solution.
1. Download and install Tera Term virtual terminal.
teraterm-4.78.exe from Download - Tera Term - SourceForge.JP
2. Start Tera Term. Cancel any windows that pop open upon start up.
3. Plug in TWR board USB connection. I'm using the one on the board itself, not the SER board.
4. In Tera Term, click File->New Connection.

5. Select the serial port that is the OSBDM connection. (I assume the com number may be different on different machines.)

6. Under Setup->Serial Port, make sure the settings are correct. I'm using the TWRK60D100M.
7. And it works! Results from printf() show on the Tera Term screen.
8. You can also go to Setup->Save Setup to make your selected serial port and baud rate the default. TERATERM.INI appears to be the default file that is loaded each time the program starts. If you do this, the connection is made automatically when you start Tera Term the next time - assuming the USB cable to the TWR board is plugged in. If the USB cable is not plugged in when you start Tera Term, you get an error message. You then have to click File->New Connection after starting Tera Term.
~LMG