Yes, you can print to modern printers, but it isn't easy with classic MacOS unless you have it connected via Appletalk, and the printer supports Postscript. The easiest way to do it is to find a copy of PCMaclan for a Windows machines to share the printer via Appletalk (or use Linux and netatalk) and then create a "virtual" Postscript printer using Ghostscript and RedMon (Linux can use CUPS for this).