Assuming that you have a printer that supports PCL3 or Postscript, you still need to load the appropriate printer drivers and the printer daemon.
A printer driver is essentially a piece of software that understands how to communicate with a printer on one side, and it understands how an application program specifies content to be printed. In Linux, the most common standard for applications to specify what to print is Postscript. In order to use a PCL3 printer, a printer driver translates commands specified in Postscript into PCL3 commands.
A printer daemon is a server program that listens to requests to print. A printer daemon interacts directly with printer drivers. When an application program needs to print something, it sends the content (rendered in Postscript) to the printer daemon via a “socket”. A socket is a special “file” in the file system that is usually in the form of a port number attached to an IP interface.