Issue:
Supporting multiple printer manufactures in a TS/Citrix Server environment can be difficult. Furthermore, printing from a Terminal Server (TS) or Citrix XenApp/Metaframe/Presentation Server may be inconsistent and may not work at all.
Cause:
To successfully redirect printing from the Terminal Services (TS) Server to a given client’s printer the proper drivers need to be installed on both the client machine and TS server machine. The requirement of having the TS server host a matching printer driver can be problematic for a number of reasons; the inability to find matching drivers, or the drivers the printer vendor supplied just don't work with TS, etc.
Solutions:
Citrix Universal Print Driver and Printer
If you use Presentation Server 4.x (or newer) you should allow autocreated printers. This works well if the client is Windows 2000+ using the Win32 ICA Client 9.x or 10.x because by default the Citrix Universal Print Driver (UPD) is used when ever a matching print driver is not found. Using the Citrix UDP driver you should be able to print to most printers, regardless of make/model.
The Citrix Universal Printer Explained
Troubleshooting and Explaining the Citrix Universal Print Driver
Here is a screen shot showing how the Citrix Universal Printer is auto created when no matching printer driver is found. Notice the Model listed on several printers is the Citrix Universal Printer

Here is a screen shot showing the associated event when a print driver is not found. Notice the event does not inform you that the Citrix UPD will be used instead, but it will.

HP Universal Print Driver
The HP Universal Print Driver (UPD) for Windows version 4.5, available for free from HP at http://www.hp.com/go/upd. This driver is supported by HP in Citrix and Terminal Server environments. The HP Universal Print Driver should be installed in static or traditional mode on the server and can serve as a universal print driver for all autocreated printers or redirected printers. Installation of the HP Universal Print Driver in dynamic mode is not supported on TS or Ciritx Servers.
For autocreated printers, use the Citrix Compatible Driver Mapping to map the HP Universal Print PCL 5 driver to all PCL 5-capable HP printers, map the HP Universal Print postscript (PS) driver to all postscript-capable HP printers, and map the HP Universal Print PCL 6 driver to all PCL 6-capable HP printers.
For Citrix Presentation Server 4.x HP recommends the Citrix UDP over their HP UPD for use with Windows ICA Clients. For non-Windows ICA Clients or Thin Clients the HP UPD is preferred.
Windows 2003 Supported Drivers
Check with the vendor’s web site for a Windows 2003 version of the driver. Some vendors like HP and Lexmark provide a compatibility matrix for support with Citrix and TS servers. Sometimes the Windows XP driver can also be installed and used on Windows 2003 as well, but only if you can install the driver using the INF file. Print driver’s that require a Setup program to run should never be installed on TS or Citrix Servers. However, you may be able to extract the contents of the Setup program and use the INF and associated files from there.
HP printers supported in Citrix XenApp Server environments
Lexmark Citrix MetaFrame Compatibility
Note: The reason Windows XP drivers may be used is because there is not really a difference between Windows XP and Windows 2003 when it comes to the way the print drivers are implemented. Also, some vendors may only test the driver on Windows XP and not Windows 2003, and some vendors may intend for it to be used on Windows 2003 but not properly keep the web site information updated. However, given the unique requirements of multi-user environment like TS and Citrix servers, use Windows XP drivers as a last resort, unless specific information directs you to use them.
Native Drivers / Certified Drivers
All Windows Native drivers are TS server compatible. Native drivers come with Windows and are usually written by Microsoft. Microsoft also releases new drivers for new printers and/or provides Certified Drivers from the manufacture for download. You can search for and download these drivers from the Microsoft Update Catalog. Look for Microsoft version of the drivers, if none are available then use the manufacture certified version. Using the Manufacture certified driver does not guarantee compatibility with TS and Citrix, but does improve your chances.
Citrix Compatible Driver Mapping
You can use the Driver Mapping functionality to map client printers to compatible or universal print drivers as shown below. This may require trial and error or you may find some vendors (like HP) document standard and universal compatible drivers that can be used as an alternative.

Citrix Stress Printers Utility
Use this utility to test if a driver is suitable for multi-user environments. It should be configured with multiple instances that simultaneously print to multiple sessions while autocreating printers that are using the same print driver. This type of test gives an admin a way to ensure a print driver does not cause a fatal error on their server.
StressPrinters 1.3.2 for 32-bit and 64-bit Platforms
Links to Manufacturer Download Sites
Brother USA Printer Support
Sharp USA Business Copiers
HP Support Page
Canon USA Office Products Support