By default, Mac OSX 10.9 (Mavericks) and later should automatically be aware of all the printers available ; you just need to tell it which one(s) you want to use.
Click on the little plus sign on the left. Then click on IP to type the printer name (from the list). Choose 'AirPrint' as protocol.
Click Add. For most printers OSX will automatically download a driver for the printer and it will just work.