Thank you for the information.
The HP ENVY 6055 All-In-One Printer (without an e) is listed in About AirPrint - Apple Support as a supported AirPrint model. AirPrint means that one can print without additional drivers/software, provided that the printer and the Mac are connected to the same network (that is, Wi-Fi router). AirPrint as such may work with computers running an operating system as low as OS X 10.9 Mavericks or possibly even Mac OS X 10.7 Lion. The printer firmware version may also determine the requirements for basic use of AirPrint.
The printer manufacturer may provide extra software for setup, ink management, and similar purposes with higher system requirements. One example is the HP Smart for Desktop app (https://apps.apple.com/us/app/hp-smart-for-desktop/id1474276998). In some cases it is possible to use an HP Smart app for iOS or iPadOS (https://apps.apple.com/us/app/hp-smart/id469284907) instead. Generally speaking, extra software may not always be absolutely necessary for a printer that otherwise could print via AirPrint.
Now to your exact printer model, the HP ENVY 6055e All-in-One Printer. Since this printer is not listed in the About AirPrint article, it may or may not work without extra software from HP. You would have to carry out a few experiments in order to determine this. Please note that if you have an ink subscription agreement, extra software may be needed.
The specifications at https://support.hp.com/us-en/product/product-specs/hp-envy-6000e-all-in-one-printer-series/model/2100187510 show AirPrint under Mobile printing capability (but the computer system requirements are somewhat confusing).
See also the Setup support documents links at the end of this article:
https://support.hp.com/us-en/printer-setup/hp-envy-6000-all-in-one-printer-series/29256672/model/2100187510