Have your computer connected to a network (wireless or wireless) with access to the printer in question
The model name of the printer so you can locate and install drivers.
The the IP address of the printer.
Open up Apple System Preferences.
Click Printer and Scanners.
Click the + sign in the lower left of the Printers and Scanners window to add a printer.
Click IP at the top.
Type in the IP Address of the printer. (ex 192.168.0.0)
Select the Protocol: HP Jetdirect - Socket.
Leave Queue blank.
Enter a name for the printer under Name.
You can name the Location anything you want.
Select an appropriate driver under the Print Using dropdown. If you cannot find the correct driver, search/find it or download one. Avoid the generic driver that comes with it.
Click Add.
You may be presented with an Installable Options screen. If so, select the appropriate options or accept the defaults.
Click Continue to add the printer.