This is the one that I found on these forums for just printers:
Select Top 1000000 tsysOS.Image As Icon,
tblAssets.AssetID,
tblAssets.AssetName,
tblAssets.Domain,
tsysOS.OSname As OS,
tblAssets.SP,
tblAssets.IPAddress As IP,
tblPrinters.Caption As Printer,
tblPrinters.Portname As [Printer Port],
tblPrinters.Capabilitydescriptions As [Printer Capabilities],
tblPrinters.Lastchanged
From tblAssets
Inner Join tsysOS On tblAssets.OScode = tsysOS.OScode
Left Join tblPrinters On tblAssets.AssetID = tblPrinters.AssetID
Where (tblPrinters.Portname Like 'DOT4%' Or tblPrinters.Portname Like 'USB%')
And tblPrinters.Local = 1
Order By tblAssets.Domain,
tblAssets.AssetName,
Printer