Many HP printers can use AirPrint to print without a driver when the printer and the Mac are connected to the same local network.
In macOS X 10.9 and newer, HP printers added to the Printers & Scanners list will use AirPrint by default.
To print using AirPrint, add the HP printer to the Printers & Scanners list using a USB, wired network, or wireless network connection.
AirPrint also provides basic fax (F) or scan (S) capability in macOS X 10.10 and newer.
This will add AirPrint as the default print queue when printing to the HP printer.
To add advanced features (HP Easy Color, HP Easy Scan, custom paper sizes, job storage, folder or stapler finishing, watermark, etc.), download the HP Easy Start utility.