This meta-printing layer has worked well for me in the past:
https://github.com/rossburton/meta-printing.git
I was using the 'morty' branch with a meta-ti BSP, so I can't testify to how
well it works with other Yocto versions or BSP layers.
In case it helps, these are the recipes that included in the image:
cups \
cups-filters \
ghostscript \
qpdf \
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