If java is installed on your PC and you get that message in a browser, it may be because you need to update your java. Check in the control panel if you see java.
If java is up to date, then you again, in the control panel double click java and enable it in web browsers. Check the security options.
If java is not installed on your PC, then forget about it and install the printer manually.
Run the MS printer installation wizard, add a local printer, select create a new port, Select Standard TCP/IP port, enter the printer's IP, then select the driver and finish. You should be good to print. You can share that printer from that PC or better yet install the printer locally on all PCs.