sudo pacman -S cups cups-browsed avahi nss-mdns

Edit /etc/nsswitch.conf and change the line:

hosts: mymachines resolve [!UNAVAIL=return] files myhostname dns

into

hosts: mymachines mdns_minimal [NOTFOUND=return] resolve [!UNAVAIL=return] files myhostname dns

Then enable services

sudo systemctl enable --now avahi-daemon
sudo systemctl enable --now cups
sudo systemctl enable --now cups