I recently bought a new printer - a wireless one at that (a HP C4380). An accompanying CD made sure that I got it attached to my home wifi network in no time. Have played with it a couple of days, I decided to try using it with my Ubuntu machine.
Surprisingly (ok, then again not-so-surprisingly) I got it attached and working with Ubuntu in under 3 minutes - no driver CD required! Of course, the driver CD did contain instructions to get it working with Linux, but I chose to ignore that since it involved involving some HP softwares.
So, here's a series of screenshots that walk through the process.
See also: My other articles relating to this topic.