Event ID 307 displays information about the jobs printed.
The following PowerShell should get you started (although note I'm not in front of my environment to test) with being able to query those events, and return the printer names:
$printLog = Get-WinEvent -FilterHashTable @{LogName='Microsoft-Windows-PrintService/Operational'; ID=307;}
$printers = $printLog | ForEach-Object {
$propertyData = [xml]$_.ToXml()
$printerName = $propertyData.Event.UserData.DocumentPrinted.Param5
$printerName
} | Select-Object -Unique
Write-Host "Printers Used:"
$printers | ForEach-Object {
Write-Host $_
}