From there, a window titled 'Add' should pop up, giving you multiple options to add a printer.
To add a printer to this list, click the 'Plus' (+) sign under the white space. The middle of the pane should show, in bold, the current printer you're connected to, while the white space to the left that says 'Printers' will list all of the printers you have previously connected to. If successful, the icon should now appear unlocked in the window. If that icon is present, click it and follow the prompts for your username and password. In the Printers & Scanners pane, you may see a padlock icon in the bottom left hand corner, next to some text that says 'Click the lock to make changes.' This one is pretty self-explanatory, as you'll have to click the lock, and then enter your user credentials to unlock the ability to add or remove a printer. From the System Preferences window, look at the second row of icons from the top, and click the 'Printers & Scanners' icon. For those unfamiliar, it's the silver icon that has a gear on it.
To get started, go to your Dock and click the 'System Preferences' icon. Note: For this article, I am using a 2016 MacBook Pro with Touch Bar, running macOS Sierra, but these steps should work for a few prior operating systems as well.