Hello,
First of all, you may want to have a look at the web sites of some manufacturers (Brother, Canon, Epson, etc). Try to determine what kind of printer you need. If possible, look for a model that has been around for some years. Avoid printers with ink subscription agreements.
Next, go to the official support site of the manufacturer and check whether the download page for the printer in question mentions Mac printer drivers when macOS 10.12 Sierra is selected.
The AirPrint technology (list of printers in the article below), which does not require additional drivers, should per se work with macOS 10.12 Sierra. However, modern printer firmware could possibly lead to limitations, so you may have to carry out tests. Sometimes, a printer manufacturer prescribes special software for setup and similar purposes (although not always necessary).
About AirPrint - Apple Support
Sorry, there is no easy way, unless you could find a printer model (new or used) that was available somewhere around year 2016.
If you find a couple of printers of interest, do not hesitate to post back with the exact models. Someone here may then be able to provide more specific information.