From Fedora Project Wiki
To test IPv6 Printing:
1. need to check to see if the network printer has the IPv6 network address capability.
check with the manufacture's owner's manual
2. If it does, please follow the printer manufacture instruction to set up the printer with an IPv6 address.
If it uses dhcp, setup ipv6 dhcp server on the host to provide an ipv6 address for it; and use printer gui or command to set up the printer queue.
3. Test out the printer networking connection first by use 'ping'
4. Once the connection is back up, using 'lp' command to see if printer queue is working by print to it.
Note: please see ipv6(7) for details on specifying raw IPv6 addresses.