You might need to furnish us with more details on the version of SCO. Primary versions are OpenServer 5.0.x (multiple revisions), OpenServer 6, and UnixWare.
In a very basic setup,(assuming OpenServer5 and an HP JetDirect printer) you can add the printer's IP address to your /etc/hosts file, then run /usr/lib/hpnp/hpnpcfg.
That gives you a little menu, of which you only need to run option #6.
If the printer isn't an HP JetDirect, you might have to install and use "netcat" (or use LPR/LPD). Some printers provide their own drivers as well, but most will respond to either of the above with the correct parameters.
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