HP (as well as any other suppliers) will tell you to update the firmware before moving to NW6. queues will still work in NW6, this will just make them work more efficiently.
Make sure you have the printserver name identical in Internet Explorer Network Configuration as it shows up in nwadmin32. When you click on the print server in nwadmin32 and then Details and "Printer Layout (non NDPS)" it will show you the status. If there is a problem you might see "!" or something else indicating a problem.
You mnay have to delete all three objects and re-install, if you do use the Tools\Print Services quick Setup (Non-NDPS) link that will allow you to set up all three objects at the same time. Use your old queue name so you don't have to re-install all the users for that printer.
I would highly recommend setting up iPrint, it doesn't even use a license. Great tool and much faster than queue printing. i just ran a test with two W9eSE machines. i printed a test page to a queue and then walked over to an iPrint W98Se machine and did a test print from there. The iPrint came out far ahead of the queue print job. The queue doesn't get jammed up either, because it prints directly to the printer.