Okay, I'm on 10.5.5, using the 2170 via USB, and had to mess with things for a while to finally fix this problem. Hopefully these notes will be a bit more complete for those who can't seem to make the above solutions work.
1. Update your OS and make sure your printer is on and connected via USB.
2.
http://welcome.solutions.brother.com
2a. select your continent, language, printer category ('HL') and model ('HL-2170W')
2b. select 'Downloads' and in the fields, select "Drivers"/"10.5"/"English"
2c. (You
can search for all download types, but the other two downloads won't help us.)
2d. Click on 'More Information'.
2e. Download and install. (
http://welcome.solutions.brother.com/BSC/public/files/dlf/dlf003224/brxlaser507_105101.dmg)
3. Don't worry about the firmware installation package. It didn't work for me.
4. Download and install:
http://www.apple.com/support/downloads/brotherprinterdriver11.html
5. Download and install the Brother updates.
5a.
http://www.brother-usa.com/faqs/default.aspx?ProductGroup=1&Model=1265
5b. Leave the search field blank.
5c. Click the "View FAQs" button, then go to the "Printing" section.
NOTE: As of this writing, the "Top 5 FAQs" section on the left side of the page holds the FAQ we're looking for.
5d. Under "The device does not print anything", you'll find the OS 10.5.5 tutorial, complete with pictures.
4. Going through the tutorial:
4a. The terminal command /usr/libexec/cups/backend/usb may not reveal anything at first. If you go to "System Prefs"->"Printers"->"Open Print Queue..." then go to the "Printer" menu and select "Printer Utility" to bring up the "Brother Status Monitor" and make sure it says your printer is ready. For some reason, after refreshing this once, I got the command-line program to show the printer for me.