A temperature-sensing circuit has a pair of bipolar transistors of different sizes, exposed to the temperature to be sensed. A current mirror circuit, or an operational amplifier and another bipolar transistor, is used to sense the difference between the base-emitter voltages of the bipolar transistors and generate a corresponding output current, which is converted to a voltage output signal. This temperature-sensing circuit can be integrated into a driving circuit to sense the temperature of the driven elements and compensate for temperature effects. In a printer, the temperature-sensing circuit can be used for temperature compensation of dot-forming elements.