printing through IP

How do I set up printers on Mac OS 9.1 – 9.22 computers printing to IP addresses of the printers instead of using Apple Talk ? We’re now using Apple talk, users go to Chooser to choose their printer then print. I want to disable the Chooser, not allow them to choose printer in Chooser. I want it setup so they can use TCP/IP to print to the printer. Printers are HP 2250 & 4000 series network printers. There is no Mac servers, the Macs don’t logon to domains. If it’s possible to setup that way, what users need to click when they want to print ? ( cause there will not be a Chooser ) There is no Mac Manager either. Any help will be appreciated. thanks.