Open printers:

Click Add

Choose your printer from the list or enter the URI (the list should populate with detected printers provided you've followed the instructions in the community wiki about setting up CUPS

This is what I get as I print over the network:

Next you'll choose the driver to use for me Brother is recommended, yours will be Canon.

If you have a PPD file you can choose it here, if not, try to choose your printer from the database by selecting Canon here

If you don't find your model listed here hit the back button and try searching for a driver to download above.

Once you've found your model listed, select it and move forward

You'll be asked to identify your printer here:

do so and then click apply. Now print a test page to insure everything is working properly:

If it prints congratulations, your done! If not, right click on the printer and insure that Enabled is checked (it should be)

If you right click on the printer and choose properties you'll get something like this (your URI and driver will be different):

You should insure that these settings make sense if you can't print. If you have the wrong driver and everything else is correct you'll usually get something from the printer (garbled output, page feed, etc.)