GNU/Linux Kali 2019 Brother Printer Setup – Step by step Guide
The linked tutorial shows you step-by-step How to Install Brother Printer on Kali 2019 GNU/Linux desktop.
And to Achieve the Brother Printer Setup for Kali 2019 you need first to Download and Install the Printer Driver.
Finally, the Guides includes instructions about to Add Printer and Get Started with Brother Scanning on Kali.

GNU/Linux Kali Brother Printer Driver Installation