Rather that reboot to be able to print again try relaunching the Finder thru the ➙ Force Quit menu. See if that will reconnect the printer.
Also boot into Safe Mode by booting with the Shift key held down and check there to see if the problem persists. Reboot normally and test again.
NOTE: Safe Mode boot can take up to 10 minutes as it's doing the following;
• Verifies your startup disk and attempts to repair directory issues, if needed
• Loads only required kernel extensions (prevents 3rd party kernel/extensions from loading)
• Prevents Startup Items and Login Items from opening automatically
• Disables user-installed fonts
• Deletes font caches, kernel cache, and other system cache files