GNU/Linux Kali Canon GX6060/GX6070 Printer Setup – Step by step Guide
The linked tutorial shows you step-by-step How to Install Canon MAXIFY GX6060/GX6070 Printer in Kali GNU/Linux desktop – Step by step Tutorial.
And the Canon MAXIFY GX6060/GX6070 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 MAXIFY GX6060/GX6070 Printer Kali Installation Guide