GNU/Linux Kali Canon TS5040/TS5050 Printer Setup – Step by step Guide
How to Install Canon PIXMA TS5040/TS5050 Printer on Kali GNU/Linux desktop – Step by step Tutorial.
And the Canon PIXMA TS5040/TS5050 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 TS5040/TS5050 Printer Kali Installation Guide