Yes, it´s possible to connect a Printer to a NAS and this article will explain you the steps.
The option to manage printer can be found under "Control Panel > Service > Print Server".
When a compatible printer is connected to the NAS, it will show up in the above mentioned list.
You can change the name of a printer, delete printers from the list, cancel any job the printer is currently doing and showing the current status of the printer.
You can find the compatibility list of all printers here: