@Eyash Not sure about configuration part in your environment but you can make use of Azure Universal Print Services or Windows Server Hybrid Cloud Print.
Universal Print is a modern print solution that organizations can use to manage their print infrastructure through cloud services from Microsoft. It is now free to try during public preview!
Universal Print runs entirely on Microsoft Azure. When it's deployed with Universal Print–compatible printers, it doesn't require any on-premises infrastructure.
You can refer to this article for more information around deployment part.
On other hand Windows Server Hybrid Cloud Print layers on top of existing Windows Server(s) running as Print Server, and enables Azure Active Directory (Azure AD) joined, and MDM managed, devices to discover and print to organization managed printers..
More information here.
Based on your solution you can check configuration part and configure it accordingly.
Hope it helps.
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