On your Ubuntu system you need cups installed. I'm assuming at this point the printer is working on the server.
Once you have cups on the client, open a web browser and in the URL bar open cups web interface with http://localhost:631
Click Admin Tasks. I add printers as root user. So root and the root password.
Add your printer, same stuff as your print server.
The main difference this is a remote printer. The print driver is the same one you use on the server. For the URI enter
The IP address is the address of the print server. 631 is the default port for cups. Change these to match your system.
The word printers has to be there. Its in the Cups doc.
The last field is the name of the printer on the server.
If you have IP connectivity, then you should be able to print, assuming you get all things to match your installation.
Hope this helps.