Apple provided LaserWriter drivers to output print jobs to PostScript printers, but as in your link is pointed out, the last version of the Apple LaserWriter driver working with System 6 does not work well with the setup you might want to use. (It seems LaserWriter 8 will not work with System 6. Even in System 7.1 you have to take some care to get the latest version up and running). Try to fetch a Version of the Adobe PSPrinter version 8.2.1, install this into your system and follow the instructions given in http://www.vintagemacworld.com/osxprint.html. When the rest of your network is set up properly, you should be able to select the printer from your SE using the PSPrinter driver. You will need to select an appropriate PPD file (printer description), probably a generic one can be used.

To print just use the PSPrinter driver from your application programme, as you would do with a locally attached StyleWriter.