Right-click the taskbar in a blank area without icons or text. Click the "Toolbars" option from the menu that appears and click "New Toolbar." Locate the printer icon you want to add to the ...

Press the Finish button. This will add a printer shortcut to your desktop. You can also pin the printer shortcut to the taskbar to make it more convenient to access that printer.

Or you can fix things by adding an icon for your printer on the Quick Launch bar that is displayed on the far left of the screen next to the Start button rather than in the Taskbar on the far right.