Read the rest of the hint for the how-to...
My first challenge was to assign a static IP address to the Print Server. I could not figure out how to connect to the print server with my PowerBook, so I finally used the CD that came with it and one of my Windpws2000 machines for this portion of the setup. Maybe someone else knows the solution for that. Once the IP address is set, you can do any additional administration via the web interface or via telnet using the Terminal app. Incidentally, the web interface requires you to log in and the documentation doesn't specify that the user name is "admin".
Next I had to add the printer to my Max OS X machines using Print Setup Utility (Print Center in Jaguar). In order for this printer to work on a network in this manner, it is necessary to have GhostScript and Gimp-print printer drivers installed. These are included on the Panther install CD, but are not installed by default. They did not come as part of Jaguar. If you need them they are available from the Gimp-print for Mac OS X website.
In Panther, you need to click on add printer and then select IP printing. For the Printer type select LPD/LPR. Then, enter the IP address that was assigned to the print server. Leave the Queue Name black and select your printer model from the list. If your printer isn't included in the list check the Gimp-print web site to make sure it is supported. Lastly, click the add button.
In Jaguar the process is almost the same except when you click on the add printer button you need to hold down the option key. This will add advanced to the list that results. Select advanced and then for device select LPD/LPR Host or Printer. Next type in a name for the device, whatever you wish. Then type in the URL that was assigned to the print server. Lastly select your printer model from the list and click the add button.
A new printer will be in the list of printers. You can now select it and click the info icon, select show info from the Printers menu, to give it a more descriptive name.
That was pretty much it, everything has been working great ever since.

