Generally speaking, for IP printers connected via Ethernet or wirelessly, you go to system preferences > Print & Scan, and click the + (plus) button. Most of the time the printer is found automatically.
If that doesn't work, click the IP pane, select "Line Printer Daemon", supply the printer's IP address, the queue name (usually this is optional), the name you would like to give the printer, its location (optional). For "print using", click "select printer software" and scroll throught until you find the appropriate driver.
When you are done it ought to look something like this:
For the HL 2130 you may need to use the CUPS
Also see here: