To do this you need to create a GPO scoped to the Domain Computers group and assign the following policies.
1.Computer ConfigAdministrative TemplatesPrintersPoint and Print Restrictions
[Enabled]
2. Computer ConfigPoliciesWindows SettingsSecurity SettingsLocal PoliciesSecurity Options
3.Computer ConfigurationPoliciesAdministrative TemplatesSystemDriver Installation
The setting is called “Allow non-administrators to install drivers for these devices setup classes”.
You will need to add thedevice class GUID of printers: {4d36e979-e325-11ce-bfc1-08002be10318}