GNU/Linux Kali Canon TR4550/TR4551 Printer Setup – Step by step Guide
The linked tutorial shows you step-by-step How to Install Canon PIXMA TR4550/TR4551 Printer on Kali GNU/Linux desktop – Step by step Tutorial.
And the Canon PIXMA TR4550/TR4551 Driver Kali Driver Setup It’s quick and easy because it only involves running a few Basic Shell Commands.
Especially relevant: after the Driver Installation to achieve the Printer Setup follow guidance to Add Printer!
Finally, included in the guide you find also instructions to QuickStart with Canon Scanning on Kali.

Canon PIXMA TR4550/TR4551 Printer Kali Installation Guide