step one
Install basic printing support
sudo pacman -Syu manjaro-printer
step two
Enable and start the cups printer daemon
sudo systemctl enable --now cups
step three
Based on your environment you may want to install a GUI printer and queue management tool as opposed to use the CUPS web on http://localhost:631
GTK environment (Gnome, Xfce, Mate, Cinnamon)
sudo pacman -Syu system-config-printer
KDE Plasma environment
sudo pacman -Syu print-manager
step four
If necessary locate your printer by searching https://aur.arclinux.org/packages for your printer
In this case you have located the driver - so build and install the printer driver
pamac build brother-mfc-j5730dw
optional setup
Basic networked printer setup