Most new printers have PostScript built-in although if you are trying to print to an older printer or you are in a workplace with lots of PCs they may not have built-in postscript. If this is the case the default drivers in OSX will not work.

Here’s how I got my a non Postscript Fuji Xerox printer working with my 2020 MacBook Pro running Catalina.

1. Give the printer an IP address. (e.g. 10.0.0.200)
2. Download the latest drivers manually from Fuji Xerox. (https://onlinesupport.fujixerox.com/processDriverForm.do?ctry_code=SG&lang_code=en&d_lang=en&corp_pid=DCVC2263&rts=null&model=DocuCentre-V+C2263&type_id=2&oslist=Mac+OS+X+10.15&lang_list=en)
3. In System Preferences: Printers go to Add new printer, select IP then put in the options as follows:
   

I needed to select LPD because IPP didn’t work.

I needed to select FX Print Driver for Mac OSX. The default DocuCentre drivers (Called FX DocuCentre-II C4300 v3016.103 PS) did not work. The specific drivers for a printer rely on the printer having Postscript, whereas the FX generic print driver does not need the printer to have Postscript installed.