Just recently, I tested my EPSON STYLUS T10 and it works perfectly using the EPSON T20 driver (automatic detection).
Today, I decided to try my other printer which is the HP DESKJET D2660.
Steps taken:
1) Connect the printer (usb)
2) Turn-on the printer (make sure you have ink)
3) Go to the Mageia Control Center
4) Go to "Hardware" on the left-side of the Mageia Control Center
5) Go to "Configure printing and scanning"
6) Click on the "+" (add printer) on the upper-left hand side
7) Then the system automatically detects that the driver to be used is the driver for the HPD2600.
8) That is all there is to it! Now print a test page.
Cheers again!