Well I discovered today that there is no Printers icon in the MATE menu on JULinuXP or JULinOX_OS. Looks like a bug for the next revision. In the mean time you can find the printer icon in the menu of LXDE (that is also optional) or you can create a launcher. To create a MATE menu icon simply go to System Tools > Mate Menu Editor
And then just make a new entry under System Tools with the command: system-config-printer and call it Printer or whatever you want to call it, and if you like give it an icon. ;)
Sorry for this oversight.