So that it can be used by all devices on your Network, the Printer needs to know three things:
1) what network-name is it supposed to join
2) what is the password to get on that network
3) how is it supposed to get an IP address (DHCP or manual at a specified address)
There are basically two ways to get these into the Printer:
a) fat-finger it in through the printer's "front panel"
b) connect using a USB cable first, tell it the stuff, then disconnect the cable
without all three of these, it can't join your home network, so it can't be 'discovered'.
MacOS has a great feature called Discovery protocol. It uses IPv6 set to "link-local only" to snoop around you local network and discover Printers, File sharing , and similar resources.