If the printer wasn't installed automatically when plugged in, it might deliver a driver via optional Windows Updates which is how Windows 7 provides drivers after install.
If not extract the driver to an external device or network computer, then browse to it from Device Manager (after unhiding all devices on View tab) Printer device.
You can also rightclick on the Printer in Devices and Printers and run the Troubleshooter.
If you move XP to new hardware, it almost always requires a
XP Repair Install or booting Paragon Adaptive Restore CD on the new hardware to adjust it to new hardware.