The lpstat command with the -p option can be used to display the list of available printers. You could also use the lpc command.
lpstat -p . . . printer HP-Photosmart-C6200-seriesCMD:PCL is idle. enabled since Mon 01 Jan 2016 00:00:01 AM CST ready to print
You may want to use the pr command to format a file for printing.
There are a few different commands that can be used to sent print jobs to the printer.