You can learn from this article what to do when you can't get GoToMyPC recognize the printer driver.

1. While remotely connected to the host computer, download the driver for the client printer from the manufacturer's website.
2. Install the driver on the host computer. When prompted for the printer port, keep the default selection.
3. Once the installation is complete, navigate to Start > Control panel > Devices and Printers. Right-click the newly installed printer and click Printer Properties.
4. Select the Ports tab. In the list of ports, select GoToPort and click OK.
5. From the GoToMyPC Viewer menu, select Tools > Preferences > Printing. Find the new printer, listed as GoToMyPC Printer and print from the client computer.