Faculty and staff should automatically have the appropriate printer(s) based on their office/location listing in Active Directory - these are added by group policy. If they don't have them, create a ticket to have them added to the correct printer group. If they need a different location or need printers mapped quickly, printers can be manually added using the process below:
Open Windows Explorer, in the address bar type in \\print-server and hit ENTER
Double click the printer in the listing that you would like to add, it should automatically set up the printer.