I have Cannon printer and I decide install and use it on Kali....here is my tutorial about that

Work with:
Local Printers:
HP Printer (HPLIP)----- i mean all HP series
Canon MP270 series (Canon MP270 series)---I mean all cannon series
HP Fax (HPLIP)

Discovered Network Printers:

Other Network Printers:
Internet Printing Protocol (http)
Backend Error Handler
Internet Printing Protocol (ipps)
Internet Printing Protocol (ipp)
AppSocket/HP JetDirect
Internet Printing Protocol (https)
LPD/LPR Host or Printer
Windows Printer via SAMBA


1.With synaptic install:
cups
cups-client
or apt-get install cups cups-client "foomatic-db*"

2. In terminal type:
adduser root lpadmin

you got this:
Adding user `root' to group `lpadmin' ...
Adding user root to group lpadmin
Done.

(root mean your system account,if your account is with different name, type different name)
3. restart kali

4. Open terminal and type:
/etc/init.d/cups start
you got this:
[ ok ] Starting Common Unix Printing System: cupsd.

5. In terminal type:
netstat -ant | grep 631
you got this:
tcp 0 0 127.0.0.1:631 0.0.0.0:* LISTEN
tcp6 0 0 ::1:631 :::* LISTEN
tcp6 0 0 ::1:39723 ::1:631 ESTABLISHED
tcp6 0 0 ::1:39722 ::1:631 ESTABLISHED
tcp6 0 0 ::1:631 ::1:39723 ESTABLISHED
tcp6 0 0 ::1:39721 ::1:631 ESTABLISHED
tcp6 0 0 ::1:631 ::1:39721 ESTABLISHED
tcp6 0 0 ::1:39720 ::1:631 ESTABLISHED
tcp6 0 0 ::1:39724 ::1:631 TIME_WAIT
tcp6 0 0 ::1:631 ::1:39722 ESTABLISHED
tcp6 0 0 ::1:631 ::1:39720 ESTABLISHED

also in terminal type: lsusb
you got this:
Bus 001 Device 010: ID 04a9:173b Canon, Inc. (depends on your printer series)

6. Open iceweasel and type:
http://127.0.0.1:631/
In semicolon: CUPS for Administrators
click on Adding Printers and Classes
click on add printer
type your username(system account) and password(system password)
choose your printer
and follow instructions......

in system settings: go and check
printers
and you see your installed printer

7. Add cups for printer to startup programs:
go to system tools-preferences-startup programs
click on add
type:
Name: Cups&printers
command : /etc/init.d/cups start
comment: CUPS-standards-based, open source printing system

You don't need windows for printing.....you can print docs&pictures from Kali linux...
Enoy!!!