Thanks for the additional information.
The two apps are actually both from Apple and part of macOS Sierra - Maps 2.0 (not Google Maps) and Grab 1.9.
Your printer is actually still supported under Sierra, and the latest driver listed on Apple's site is:
Canon iP100 series 13.7.1.0. It should be up to date if you have run all the Software Updates. You can always download and reinstall the
Canon Printer Drivers v3.3 for OS X from the link.
The printer dialog box is the box that comes up when you select print:
You can adjust printing/color settings if you click the Show Details button.
Let us know how that goes.
C