If you are using Gnome (the Mint default desktop), open the Gnome Control Center and go to Hardware-->Printing. Select Server-->New-->Network and follow the prompts.
Alternatively, you could open a browser and go to http://localhost:631
and open the local CUPS interface (the Control Center Printing applet is a front end for CUPS).
For more information about your printer, you can go to the open printing database
and select your printer.
For more information about CUPS in a networked environment, start here: