Yeah, the printers at my old job were
Xante's and fully supported Appletalk. It was just a simple matter of sharing the printers that had already been set up on the G4. On the MP side, as I recall, I used a generic driver or something. The end result was just that the MP sent the printer code stream to the G4, which then dumped it into the print queue and the driver on the G4 just interpreted everything.
In your situation, here's what I'd try (it's also how I set up my Samsung XPress printers. This is assuming your Brother is a network printer.
Create a new printer, select IP, put in the iP address of the printer. For the protocol, select HP-JetDirect. Give the printer a name and location if you like - but don't name the printer before you put in the IP address, otherwise the IP address will change to the printer name (and vice versa).
Once it's all set, click Add. It'll spin for a bit, but eventually you'll get a box where you can set up the driver you want to use. Dig through that and find the manufacturer's print driver (try that first). Finish up and then try a simple print job.