This problem is caused in the Host PC (after some windows update) so just change the setting in the HOST PC connected with the printer only. Do not need to modify any setting in the client PC.
In the Registry Editor , navigate to ‘Computer\HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Control\Print’, then right click in the blank space and choose ‘DWORD (32-bit) Value’
Rename the NEW Key DWORD value to ‘RpcAuthnLevelPrivacyEnabled’
confirm the value is "0" zero
And then restart the Printer spooler service
Key in services.msc in the search console.
Find the printer spooler service and right click and select restart.
Wait for the restart and go to the client PC try to print it again.
It should be OK now.
God bless you. Jesus loves you.