The office printers should be automatically added to your device via Intune. If you are still missing them please follow the following steps:
- Open your Start Menu
- Search for "Company Portal" and allow it to sign in
- Select "Settings" at the bottom left of the app
- Click "Sync" on the settings page
- Once added, select "Print test page" and make sure a printout comes out with your name on it at the correct location.