Hi,
First, enable the 'Undo at logoff' checkbox for the printer in the UEM management console.
Keep this in place for a couple of days to allow every user to logon and logoff at least once.
Second, add the condition (AD group for instance) to the printer, and it will only be mapped to the user in the AD group.
Everybody else will no longer have the printer, because it's removed at logoff and no longer created at logon.
Pim.