Tutorial on adding an LPD (IP-based) printer in macOS
From the Finder's Apple menu (top far left *apple* icon), select System Preferences.
Within System Preferences, go to Printers & Scanners. You should see a list of printers installed on your Mac (if any exist). Click on the + sign to add a new IP-based printer.
Select the IP Print option (middle option at the top), then enter the printer's IP address or hostname, choose Line Printer Daemon - LPD for the protocol, name the printer something descriptive, add a location to help find the printer easily, then choose either the Generic PCL Printer driver or browse for the appropriate driver if you've downloaded it already.
Click on the Add button to complete setup. You may be prompted to add certain printer features, such as a duplexer. Check the box(es) to enable those features. Voila! That should be it.