Add a printer by IPP:

  1. Click the Apple icon in the upper left-hand corner of your Mac.
  2. Open the System Preferences panel.
  3. Click on Printers and Scanners.
  4. Then click on the + sign below the list of printers.
  5. Click on the IP icon. This will look like a globe icon.
  6. Type your printer’s IP address in the Address field. Your Mac will try to gather information about the printer.
  7. Rename the printer if you want to.
  8. In the Use field, choose the print driver you would like to use:

  9.
  10. Click Add.                    

More information can be found here:

https://support.apple.com/guide/mac-help/add-a-printer-list-mac-mh14004/mac