I am using this for 4X20 LCD and it is working fine for me. One modification in hardware is required, as in my case LCD required 5V supply but the Kinetis works on 3.3V so for interfacing This LCD I had to use a voltage level shifter in between. The rest you can see on the tutorial. If you are using Processor expert, there is a PE component for that i.e LCDHTA.
The IAR-toolchain built-in printf function funnels thru a 'write' byte-output function, so if you can make a driver that takes that ASCII and creates the proper display and functions on your display, then off you go.