I don't know if this works for all printers, but I got it to work with an HP P3005n.
rundll32 printui.dll,PrintUIEntry /if /b "printer" /f %windir%\dir\to\your\inf /r "http://IP/Hosname" /m "driver name" /Z
Example: (what actually seemed to work for me)
rundll32 printui.dll,PrintUIEntry /if /b "HP LaserJet P3005" /f %windir%\hp\hpc300xc.inf /r "http://192.168.31.4/NPI21EA45" /m "HP LaserJet P3005 PCL 6" /Z
The kicked is you need to make sure that all the driver files are on the client pcs and you are good to go to use this script.