To Add a printer in MacOS, please watch the video below. You will also learn how to use the built in scanning function if your printer is multifunction. This video is using Big Sur but you will find it’s the same process for other versions of MacOS like Catalina, Monterey and Ventura. You can also see how to setup the output options on a Xerox WorkCenter here.
If your interested in learning how to use your iPhone camera and Notes.app to scan documents, check out this post.