If we have a printer connected to our network at home and we want it to be accessible from anywhere to use it whenever we want, we can use the 'Back to my Mac' that iCloud offers us to configure it.
Normally, to print through the internet we have to first establish a IPP (Internet Printing Protocol) protocol with a static IP assigned to the communication ports to access the printing services, but this solution is much less complicated if we use iCloud as I have already mentioned above.
The first thing will be to configure the printer to a computer locally or in a network through the option of print and scan in the system preferences, but we must have it previously configured to be able to use the cloud service later.
The next step is to share said printer on the network so that it can be accessible by other users, although not necessarily all since we can restrict access to it with the permissions that they give us for it.
The next thing is to see if we have an iCloud account enabled, if not we can create one from our iOS device or simply from system preferences and entering the iCloud option to follow the steps that it shows us. Once created, all that remains is to activate the Back to my Mac service from said iCloud option.
With this we would have everything ready for the printer to be remotely accessible from anywhere by simply adding the printer from 'print and scan' where the name of the printer and the computer where it is configured will appear. via Bonjour protocol.
Clarify that this will work as long as the computer on which 'Back to my Mac' is activated is on and active just like the printer, otherwise it would be impossible if the printer itself does not have any network connection.
More information - Apple patents a system to scan documents through iCloud