Haven't tried it, but I'd imagine it's like setting up an IP camera.
At the remote site, you'll have a router & a network printer. Probably works best if the WAN IP is static. But might work if you have something like DynDNS set up on your router. The router I was using didn't have that function, so DynDNS was running on the computer. Whenever the IP address changes, the DynDNS program would send an update. All I need to remember is the name, for example myremotedevice.something.net, not the actual IP.
Need to set up port forwarding on the remote router too & set up the network printer. You'll need a computer to do the initial setup, but once done, you don't need a PC at the remote location. The network printer would also have a static LAN IP address. The computer(s) you'll be using to print would need to have the printer drivers installed.
Again, I haven't tried this. I'm going by what I did to set up an internet camera at my parents' place. I think the process would be similar.