Prerequisites

• Cross-premises Azure virtual network
• A dedicated VM for Universal Print connector (Connector VM)
  • VM should be Azure AD joined if you want to test printers from client VM
    • for RDPing from connector VM to client VM using Azure credentials
    • connecting to Azure AD joined VM is possible from another Azure AD joined VM
  • Provisioning Azure AD joined VM
• Universal Print connector download link: https://aka.ms/UPConnectorMSI

Diagram

Installing Printer Driver in VM

• All on-premise printers (network printers) are available because of cross-premises Azure virtual network (pre-requisites)
• The connector VM (in which Universal Print connector is installed) can discover on-premise network printer if driver is installed
• After installing driver, printer must be added using IP address and port

Adding printers to VM

Adding Printers to VM

Registering Printers

• Universal Print connector is installed in Azure VM
• Azure vNet and on-premise network (where printers belong) are connected via site-to-site vpn connection
• After installing driver and adding to Azure VM, printers can be registed to Universal Print using Universal Print connector

Next

See: Using Universal Print printers from azure VM