I ran in to same issue with Dell 1135n printer from an OSX 10.12 laptop. It too did NOT have Samsung drivers listed by from software selection menu described above.
Found an official apple update for Samsung printer drivers here:
After installing, the SAMSUNG ML-191x 252x SERIES and a slew of other Samsung drivers were available when installing. using the SAMSUNG ML-191x 252x SERIES driver got everything working.