Manufacturers have become more Linux aware recently and most of the mainstream printers now have Linux drivers available. Installing them varies, some being really easy, while others being a little more technical.

However, HP were one of the first to embrace Linux and have had good support for a long time. They actively engaged with the Linux community and aided development for drivers for their printers.

The easiest way is to choose a printer you want to use and then go to the manufacturers website and check if;

a: it's Linux compatible out of the box,

or,

b: Linux drivers are available.

Either way, you'll have some success. It's not half of the problem it once was. I've had success with Samsung, Epson, HP, and Cannon, which is pretty much all the mainstream providers.