You would need a printer with an IPDS card to print AFPDS pages. You can find several variations of IBM Infoprint printers that will fit your printing needs, but be aware the IPDS card is about $600 in addition to the cost of the printer.
You can also go with IPDS emulation software to utilize the IPDS capabilities on non-IPDS printers like your HP. Adaptio software from IO corp is reliable and lightweight, but you will need to mess with the configurations to get it working just right. Luckily, they have a good support staff.
Most DDS keywords, compiled as *AFPDS can print to standard laser printers without IPDS printers or emulation. The DDS for Printer Files V6R1 or which release you are at, has a list of the keywords allowed in *AFPDS. I use them all the time without IPDS.