If you can access the printer from your (home) network and your Amiga is connected to your network, then all you need to worry about is the printer driver. Modern printers usually have a PostScript mode that you can use with Final Writer, PageStream, and GhostScript, (and OS4.1 PS driver) and most HP inkjet printers work fine with older drivers. I read of a Cloud printer way, but I can't remember where. Using the LPR.device (Aminet), the AmiTCP version 3.X stack will not work, but RoadShow, Miami, and AmiTCP V 4 (current EasyNet) work fine. There is another option (that I don't use and I am not familiar with) out there that someone will chime in with as well.
So get to searching! Or sit and wait for others to help.