I've got that up right here. I use it mostly in X, but it works in 9.1, too. It's an appleshare thing. I have an HP 2200TN (or something like that). I choose Laserwriter8 in the chooser, and it shows me a big list of printers in my appletalk zone. You just have to know what your printer is calling itself (strangely enough, mine occaissonally decides to rename itself). To find it's current name during setup, get it to print a test page, or diagnostic page (I hold down both it's buttons for 3 seconds)
for anything more specific, you'll probably have to tell us more about your printer and network