On ChromeOS, getting to the printers is even easier. Click print, and under "Destination" Click "See More".
There's the list of printers. Pick one.
One limitation with ChromeOS is that printing with fancy features like Stapling and HolePunching doesn't really work the way you'd expect.
Those settings aren't directly supported, you can see in the screenshot there they dont' show up at all.
The solution is, there are multiple copies of printers that show up in the list, each with different options enabled.
So to Staple, rather than choosing PMS-Workroom-Canon and choosing the stapling option like you might on Windows, you choose the PMS-Workroom-Canon (Staple) printer, print as you normally would and it will be stapled.