Menu path: Setup > Devices > Printer
With the Enable client printer function, the locally connected thin client printer is made available for your ICA sessions, provided that it was not disabled on the server side.
The printers must be set up on the Devices > Printers > CUPS > Printers page and must be enabled there for mapping in ICA sessions, see ICA sessions.
Because the thin client merely places incoming print jobs in a queue, you need to install the printer on the server. Proceed in the usual way: Start > Settings > Printers etc.