Hi,
The EPSON WF-3720 is mentioned in About AirPrint - Apple Support as a model supporting the driverless AirPrint technology, so you should not need any drivers when connected to a network. Make sure that the printer and the computer are connected to the same network. Again, try resetting the printing system and re-adding the printer (as an AirPrint printer).
Reset the Mac printing system to solve a problem - Apple Support
Add a printer on Mac - Apple Support
You may also want to try the following procedure:
Power off the router, the printer, the computer, and all other connected devices/computers. Wait two to three minutes. Power on the router. Wait another two to three minutes. Power on the Epson printer. Wait a minute or two. Power on the computer. Finally, power on all other devices/computers. Any change?
Drivers/software from the printer manufacturer may or may not add functionality.
https://epson.com/Support/Printers/All-In-Ones/WorkForce-Series/Epson-WorkForce-Pro-WF-3720/s/SPT_C11CF24201?review-filter=macOS+11.x