I’ve just gone through the process of reading through the documentation in order to set up printers for the first time myself. Cups has a very user friendly interface so I don’t think you’ll have much trouble using it. Go by their instructions for setup, i.e.
To get a list of printers on your network, including their URI use
Find the printer you want, preferably the protocol listed with dnssd: over ipp:, and add it with
lpadmin -p printername_ofyourchooice -v device_URI -E
The -E at the end will enable it to accept print jobs. Then you can go to localhost:631 in a web browser, if not already there, and over to the printers tab to ensure your printer is there and accepting prints. Try out a test page and check that everything’s in order.
Hope this helps.