How to get "Epson Printer Utility" to start from Launcher in Ubuntu?

You need to create a desktop file for it and change some permissions.

1. Create /usr/share/applications/epson-utility.desktop file with this content:

   #!/usr/bin/env xdg-open
   [Desktop Entry]
   Encoding=UTF-8
   Type=Application
   Categories=Application;Printing;
   
   Name=Epson Printer Utility
   
   Exec=epson-printer-utility
   Terminal=false
   Icon=/opt/epson-printer-utility/resource/Images/AppIcon.png
   

2. Give permissions to this file to be run

   sudo chmod +x /usr/share/applications/epson-utility.desktop
   

3. There are no permissions to read contents of /opt/epson-printer-utility/resource/Images directory for some reason. You need to grant them.

   sudo chmod 755 /opt/epson-printer-utility/resource/Images
   

Now you will see the utility in your Launcher.

I did alt+F2 and epson-printer-utility and then locked the icon on panel, plain and simple.