First install the cups, any required drivers, and start the daemon. Then you can add you user to lpadmin and manage it from: http://localhost:631/

lpq

Checks the queue. Add the -a flag to check on all queue.

lprm

Clears the queue. Add a - to remove all entries instead of only the last one by default.

lpr

Print a file. Use -# N to print the file N times, use the -p flag to add a header.