Current Xerox printers definitely do support IP, but you need Windows to configure them (the proprietary app that will connect the printer to the network only runs in Widows).
But of course, you need a printer with a control panel on it.
I got the cheapest b&w laser (i print so little that inkjet is out of the question) all in one that had ethernet (B225). It has a tiny display and some buttons. You can set it up and use it like a copy machine at the least from it.
It just magically shows up instantly as a printer on Linux. It's the best printing experience I've ever had.