Have you downloaded Xerox B210 MacOS Utilities PrintDriver Signed? It says in the description that would give you the Easy Print Manager.
Once you have that, you should be able to follow these steps to set up the wifi.
How do I set up the wireless function on the B210? The CD that comes with the printer is for Windows. I cannot find the Easy Wireless Setup Program/App in any of the drivers I downloaded off of xerox.com.