Hi,
I'm not using VLAN's (on pfSense) neither VLAN capable switches.
But I have a private entreprise LAN 192.168.1.0/24 which contains several AirPrint printers.
I also have a second LAN, a public network 192.168.2.0/24 that can't access my LAN at all - just the gateway to the Intyernet. It's a pfSense Captive portal, available for the companie'ss visitors and clients (a hotel).
I created this rule on the captive portal's interface :
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You - as a network admin should also ask yourself : how does AirPrint work ?
This question isn't optional any more as soon as you have multiple LAN's, and you want devices on one LAN network use devices on the other network.
You discover that the question is already known ^^ and you install the pfSense package Avahi.
Test on your device with a software tool like Discovery on an iPhone or iPad and you'll see that Avahi works : devices that expose Airprint - and many other - services are listed, and you can print ...
Btw : again : I'm not using VLAN (yet).
Note : if your printer and devices that want to print are on the same (V)LAN, that your issue isn't a pfSense issue. Redo your VLAN settings which might include your printer. remember : VLAN are like LAN's, they just need more hardware and hassle.