You provided nothing about your setup so you can only have very limited information provided.
You install the print driver, open a file and click "Print"
The driver depends on the Operating System you are using, the installation does as well, it also depends on the connection to the printer (Network/USB)
In most cases for both Mac and PC, you go to Xerox.com and download the driver for your printer and the installer will find it and install it just by running it.
How can we print the documents of xerox workcentre 5765?
Plz send me full details.