Internet Printing Protocol

IPP (Wikipedia) is a specialized communication protocol for communication between client devices (computers, mobile phones, tablets, etc.) and printers (or print servers). It allows clients to submit one or more print jobs to the network-attached printer or print server, and perform tasks such as querying the status of a printer, obtaining the status of print jobs, or cancelling individual print jobs.

Home Assistant has a native integration with IPP, so your IPP printers should popup automatically,