Confirm Ship customers will need to create Warehouse Stations. These stations are reached by navigating to System Management | Inventory | Warehouse Stations. You will need to add a station for each packing location in your warehouse.
With regards to the printers, you will need to ensure that the server your website is hosted on has the appropriate printer(s) mapped and can print to them.
Once the warehouse station(s) are setup, when you step through the Confirm Ship process (accessible on Warehouse Management | Shipping | Confirm Ship), the Warehouse Stations are access via a dropdown list on the orders that you wish to confirm ship.