To define IP network printers to zOS you either need to be licensed for the Infoprint Server option of zOS (and possibly Infoprint Transforms), or you will need to use an equivalent non-IBM print management product like for instance VPS from Levi Ray and Shoup. Which you choose will probably depend on how many and which types of print data streams you need to support (plain ASCII text, PCL, postscript, AFP, PDF, etc.). Both of the vendor I mentioned support all the major ones, but their pricing options differ.
The initial setup of these products is not trivial. You will need to add statements to your JES2 PARMLIB member, as well as setting up some new address spaces. Once you get that done adding an new printer is relatively easy. Infoprint Server has an ISPF dialog for maintaining the printer inventory. For VPS you add a small member with definition statements to a print definition PDS.
Setup is really too big a topic to cover here. Your best bet is to take a look at the manuals. For Infoprint Server: