Adding a printer to Linux based machine has never been simpler with CUPS (Common Unix Printing System).
- Find and install the CUPS driver e.g. Brother MFC7362N
- Open Webmin > Hardware > Printer Administration
- Add a Printer
- Choose the installed CUPS driver
To print to a PDF file, you can setup a virtual printer using cups-pdf driver.
sudo apt-get install cups-pdf
sudo yum install cups-pdf