Install Cups on your local system, the one you want to print from. Once installed, open a web browser and enter http://localhost:631
this will open up cups ( cupsd has to be running ).
Add a printer, there are examples in the documentatiojn on how to add a printer on another system including using IP addresses.
You didn't state what Samsung printer model you have. You need a linux driver for the printer. Go to http://www.linux-foundation.org/en/OpenPrinting
to look for the driver to install.
I believe you have need to install the printer as root in Cups. Click on "Do Admin Tasks" and use root and your root password.
That should be it.