Hi,
You should not need drivers with this Canon TS3420 listed in About AirPrint - Apple Support, provided that the printer and the Mac are connected to the same network (Wi-Fi router).
The following guide from Canon Europe (for similar models) could possibly be of some interest as well.
https://www.canon-europe.com/support/consumer_products/apple_airprint_guide/
Reset the Mac printing system to solve a problem – Apple Support (UK)
Add a printer on Mac – Apple Support (UK)
If necessary, the AirPrint capabilities can be tested with an iPhone or iPad.
Use AirPrint to print from your iPhone, iPad, or iPod touch - Apple Support
If there is a problem with AirPrint, and if all settings are correct, you may want to try the following full procedure (in the exact order):
Power off the Wi-Fi router, the printer, the Mac, and all other devices/computers. Wait two to three minutes. Power on the router. Wait two to three minutes. Power on the printer. Wait a minute or two. Power on the Mac. Finally, power on all other devices/computers.