For the 59XX grab the PCL Driver - Xerox User Interface - Microsoft Certified one (You didn't mention an OS so I can't direct link it)
There isn't one for the 53XX, but there is the GPD - PCL5, which should work for both printers.
We are running into a issue with our new Xerox printers and are curious if there are PCL 5 print drivers for Xerox WorkCentre 5335 and 5945i. Our main program right now will only print to the printer in PCL 5, howver online I can only find postscript and PCL 6 print drivers. Any information would be appreciated!!