I don't think udev is necessarily needed to run any device, but it is more convenient than doing it by hand. It's main purpose is to dynamically create the device nodes in /dev as devices are plugged into the system, as opposed to the old way where every possible device the system could need is created at boot time. As an added bonus udev can also run other configuration options such as changing the user or group settings to the ones needed by the system. Most of these things can also be done in other ways, however, and I've never heard of a printer that couldn't be set up on a non-udev system as well (assuming the existence of a driver).
The big question is though, are you asking us how to set up udev on your system, or how to use it to configure your printer? If the former, you'll need to get it installed, as well as making sure you have a kernel that supports it. If the latter, then you might look here for more info on what udev is and how to use it:
http://www.kernel.org/pub/linux/util...plug/udev.html
