First install all needed packages. Your going to need cups, and the client, and the foomatic and openprinting drivers.
sudo apt-get install cupsys cupsys-client
Then install everything in:
sudo apt-cache search foomatic
If its an HP printer your going to want that library. HP has an auto setup script. Install the package and run:
Installing all the foomatic, openprinting, and hp drivers the hp-setup script will detect printers on the network and will give you options as to which driver to use. To manage everything I recommend webmin. Download webmin from sourceforge, and use dpkg to install it. It will say dependencies are needed so just run:
sudo dpkg --configure -a
Webmin will install and you will access it from:
You can configure other printers (other than HP) from here. You should set the printer to static ip address then you will configure the printer to that IP and port 9100. Select the corresponding from from the CUPS menu at the bottom of the printer configuration page. Some printers need a driver straight from openprinting.com. Copy the ppd to a folder in /var/share/ppd/openprinting. Create a folder with the manufacturers name if need be. Install it the same way as other printers (through webmin), and select the corresponding ppd drivers, in the CUPS section, the add new printer configuration page.