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Tested on macOS 10.13.

Print with cups(1) on macOS

Add a printer:

# lpadmin -E \
-p Printer \
-v ipp://192.168.1.10/ipp/print \
-P Vendor-Model.ppd
#

-E enables accepting job
-p an arbitrary printer name
-v the device URI
-P a path to the PPD file

Check available printers:

$ lpstat -a
Printer accepting requests since Sat Mar 31 23:59:32 2018
$

Print a document:

$ lp -d Printer document.pdf
$

Delete the printer:

# lpadmin -x Printer
#