First, find out what printers are available
That will tell you what printers are available to you. Then you can print to one of them
lpr -P [printer_name] [file_name]
Need to find out what jobs are running right now?
(that's the letter oh, not the number zero)
Need to cancel a job?
For more information and all sorts of other CUPS goodness, check http://www.cups.org