To switch drivers I had to:
sudo apt-get install hpijs-ppds
Power menu -> System Settings -> "Printing"
Right-click your printer > Properties > Make and Model > Change ...
"Provide PPD File"
Browse to /usr/share/ppd/hplip/HP/
Select my printer

"Normal Grayscale" then worked.

Also I tested "Draft Grayscale" under the hpcups driver and that worked.

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https://bugs.launchpad.net/bugs/786048

Title:
  Cannot print using grayscale

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