How can I give users rights to configure and setup printers using a GPO?

If I understand the question correctly, you have a user that is logging in as a least privileged user. If this is the case, then you are asking how the user can be configured with the correct user rights that will allow them to install a local printer?

In order to give a user the ability to configure a printer on their computer, you will need to give them administrative access to the computer and the ability to install the driver. If you use a solution like PolicyMaker Application Security, you can provide this access for only when they use the Add Hardware Wizard, reducing their access to their computer as Administrator for other tasks.