which connections are you seeing those happen?  client to the server?  server to the printers?  (what versions of the client and/or printers in question as well as ports looked at)

and how are you testing this so we can more closely reproduce

Out of curiosity, I port scanned an iPrint box with
     nmap -sV -p 1-65535 --script ssl-enum-ciphers <host>

none of the iPrint bits show the problem,  though I found a third party app with TLS 1.0 to go take care of.

start with getting some real scan details from your security team (vs that executive level summary they gave),  most importantly getting what port/protocol they are finding this on the server.