Unable to print PDFs on HP 6100R Series printer

1. Configure the printer for either an Ethernet or Wi-Fi connection on your existing network. Disconnect any USB cable.
2. In Ventura, select System Settings > Printers & Scanners and remove the printer entry in Printers. Click the Add Printer… button and note if your printer is detected by Apple's Bonjour service on the resulting configuration panel shown below.
3. Click the Bonjour entry for your printer and that will automatically select AirPrint for your device.
4. Click the Add button and once back in the Printers listing, right-click on the printer and choose Set default printer.
5. Open the PDF in Apple's Preview application and see if you can print it from there with the printer configured for AirPrint.

Your tag line says you are running Ventura. The HP Support site for that printer indicates that the "minimum system requirements" are macOS Monterey, Ventura, Sonoma, or Sequoia.

I don't see any available Ventura drivers, but the specifications say that the printer supports Apple AirPrint. AirPrint would let you print without the need for installing separate drivers.

https://support.hp.com/sk-en/product/details/hp-envy-6100r-all-in-one-printer-series/2102256581

https://support.hp.com/sk-en/drivers/hp-envy-6100r-all-in-one-printer-series/2102256581

Can you print anything at all? If not, you need to troubleshoot that. If you can, I don't see why you would be unable to print .PDF documents using an application like Preview or Adobe Acrobat Reader.

WORK AROUNDS:

drag the .pdf icon into Photoshop and raster it to size -- hit print

drag the .pdf icon into Safari or Firefox and see if it will print from there

all else fails -- take a screenshot of the page and print it from Preview app

there are probably other ways to get a print, including taking it to an office store

the PDF probably contains effects your printer doesn't support

the printer driver is out of date