Since cups ~1.6 the browsing method for locating shared printers changed. While the move is towards avahi for printer discovery, cups can still function without it. Assuming the server-side is up and running, the only client-side steps needed seem to be:
1. vim /etc/cups/cups-browsed.conf
BrowsePoll <server_ip>:631
2. chmod +x /etc/rc.d/rc.cups-browsed && /etc/rc.d/rc.cups-browsed start
As rc.cups-browsed doesn't seem to be called from rc.M, you may also want to start it in rc.local and stop it in rc.local_shutdown.