In Finder - Applications > Self-Service
Tip: By pressing Command + Spacebar you'll launch Spotlight Search. From there you can simply type "Self-Service" and you can launch it from there.
The Self-Service app
Select Printers at the bottom
Click 'Execute' next to the printer you'd like to install
In a few moments it will install. You may verify by going to System Preferences > Printers and Scanners
The printer will be listed among your available printers
