Hello @jpcapone
Before a printer can be managed by Universal Print, it needs to be registered by using Universal Print connector.
Printer registration is the process of creating a "record" of a printer in Universal Print. This involves creating a device object for the printer in Microsoft Azure Active Directory in addition to storing some printer information in Universal Print.
The next step is Assign permissions to registered printers and share them. By default, Universal Print grants access to printers only to admins. Admins must explicitly grant users and/or user groups access.
Then you can add a Universal Print printer to a Windows device
Reference article:
Set up Universal Print
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Best Regards
Karlie