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.
The lpq command can be used to view and cancel print jobs in the print queue. The lprm command can be used to remove print jobs.