From Yast --> Hardware --> Printer. If it is a network printer, first you have to specify the connection type: select "Print via Network" from the menu panel on the left, then click on the Connection Wizard button at the bottom of the page. Once you have set this, select "Printer Configurations" and click on the Add button. Follow instructions to select the correct driver and finally print a test page to see if it correctly set-up things for you.
This article explains it all more in details: http://en.opensuse.org/YaST/Modules/Printer