$ apropros print
    bash: apropros: command not found
    $ man print | head -n 1
    RUN-MAILCAP(1)               Run Mailcap    Programs               RUN-MAILCAP(1)
    $ man -k print | wc -l     # lp/lpr is in this list... but you have to find them in a list of 200.
    196
    $ man printer
    No manual entry for printer

It's not great discoverability. 'man -k printer' is the best I found so far to find lpr, but it took a few goes to find it.