I guess you are out of luck if your printers don't support IP, but Appletalk does still work and is the default in the chooser.
If you are browsing the network with AppleTalk via the chooser or Network Browser...when you try to login to a server it will try to switch to IP for the connection if both the server and the client are capable of making an IP connection.
I have had instances where this doesn't work for some reason. (The connection would be made using AppleTalk, even if server and client are IP capable) The fix was usually to update the AppleShare Client or delete some prefrence files.