To enable clients to connect to shared print queues supported using Type 3 printer drivers on the print server, you should ...

To enable clients to connect to shared print queues supported using Type 3 printer drivers on the print server, you should use signed, package aware drivers. If signed or package aware drivers are unavailable, client users must either be local administrators or you must have already set the "Computer\Administrative Templates\Printers\Point and Print Restrictions" group policy to configure security prompts.