Samsung sold their printer division to Hewlett-Packard several years ago, so any driver support would come from HP. And it appears that the last flurry of software downloads for this device (but no explicit driver) was for High Sierra/Mojave.
This color laser is not supported by Apple's built-in AirPrint, and without contemporary product support from HP, you may be stuck with monochrome printing. However, something to try…
With the laser printer powered on, visit System Preferences > Printers & Scanners panel, and right-click on the CLX-3185FN Printers entry. Select Reset printing system… and re-add the printer by selecting the Samsung drivers again. Once re-added, see if you have restored color printing.