Go to Settings> Connections> More connection settings> Print. In the Print Options menu, click on + Download plugin and choose the plugin you want to install (all manufacturers are present). If you have a Samsung printer, download the Samsung Print Service Official Plugin. The same principle applies to all brands.
Once you have installed the plugin, return to the Print Options, select Samsung Print Service Plugin and enable the option. Then, your smartphone searches for compatible Samsung printers that are connected to the same wifi network.
The Samsung Print Service Plugin is installed by default on most Samsung smartphones, but the application is also compatible with other Android devices (v 4.4). You can download Samsung Print Service Plugin in the Google Play Store.