You can do that natively with OS X since its first version. You do not need Virtual PC or anything like that. (I actually print to pretty much the same model (4000 DTN).) The drivers are supplied with the OS, so you don't need to download anything.
1 If the printer is connected to the network directly (which I guess it is since the N indicates a network card), then you need to print a status page to find out its IP address.
2 Open the Printer Setup Utility and Add A Printer.
3 Click in IP Printer on the top. Choose the HP Jet Direct printing protocol. Enter the IP Address in the next field. In 99 % of the cases the next field should be left empty.
4 Name the printer if you wish and add a location.
5 Click in Add.
Make sure the right print driver is selected. If there are any add-ons to the printer (duplex unit, extra paper trays, memory, etc.), you have to configure them as well.