you always need driver...

1.
your printer always come with a disk contains the driver, follow the simple instruction to install the drivers. You can always download the latest driver from manufacturer's website, so it is o.k. if you lost your original disk.
2.
Older printer all use parallel port (the kind of lots of pins), but most newer one support USB. And USB cable is actually quite cheap. I got a bunch for 99 cents each, and work just great. Don't buy the brand name and expensive one, go to fry's or microcenter, and look for the on sale item or under the shelf.
3.
For wireless printing, you need a wireless print server, which cost around $100 and up, I don't think you need that. So printer such as HP has so call Jetdirect or ethernet options, which cost $200 more, totally not worth the price. If you already have wireless routine, those machine usually come with four ports, the cheaper solution is to buy a regular ethernet server (not wireless kind), which cost anywhere from $30 - $70. Hawking as well as other vendors all have it. I use SOHOWARE one before, pretty nice, but hawking one also has good user ratings.
http://www.hawkingtech.com/