Hi sshibel,
There are three Samsung ML-2950 models (printers now part of HP) in the About AirPrint article (mentioned by ku4hx):
- HP ML-2950DW
- HP ML-2950ND
- HP ML-2950NDR
An AirPrint-enabled printer is compatible with macOS. So, if your printer is one of the listed network models above, you should be able to use it without additional drivers, provided that the printer and the Mac are connected to the same network (Wi-Fi router). AirPrint works with both wired (Ethernet) and wireless connections. A printer with an Ethernet port could be connected to one of the LAN ports of the Wi-Fi router.
Add a printer to your printer list so you can use it on Mac – Apple Support (UK)
Reset the printing system on your Mac to solve a problem – Apple Support (UK)