Using the Start Menu search (Magnifying glass icon - lower left taskbar) type "Control Panel".
In the Control Panel window select Devices and Printers.
In the Devices and Printers window click on Add a printer.
Select "The printer that I want isn't listed"
Choose "Add a local printer or network printer with manual settings", then click Next.
Select Create a new port and choose Standard TCP/IP Port, then click Next.
Under Hostname or IP address: Type in the IP address of the printer you intend to connect to.
Note: this will fill in the Port name: at the same time with the same IP address, this is OK. Also, leave the "Query the printer..." box checked.
Windows should find the driver automatically. If not, you may need to download the driver (for that specific model printer) from the manufacturer's website.
Once it finds the driver, type in the Printer name: (this can be whatever you want to call it), then click Next.
In the Printer Sharing window, select Do not share this printer, then click Next.
If you want this printer to be the default, you can choose the Set as the default printer box. It's a good idea to print a test page, to confirm that it works, then click the Finish button.
The printer should now show in Devices and Printers and be selectable when printing from within documents, etc.