$ system-config-printer
To get around this problem, we need to use 'sudo' command in combination with setting DISPLAY environment variable.First, find out your system hostname:
$ hostname
darkstar
Then use sudo:
$ sudo DISPLAY=darkstar:1 system-config-printer
Enter your password to run commands as root@darkstar: xxxxx
You should see Printer configuration dialog pop-up on your screen.Note that I used 'darkstar:1' as my VNC session is :1 in this example. Your settings might differ.