Can You Use A Printer With A New Computer Even Though You Don't Have The CD To Install It?

I have an HP Printer that I absolutely love. The only problem is that I can't use it with the new computer that I brought because I lost the disk to install the software and I had to buy a whole new printer. The new printer that I brought is an Epson 500 Workforce and I hate the damn thing because it's big, bulky, and I have no idea where to pit the paper. It's basically all around confusing and even though my HP lacked a fax I would take it over the new printer any day. So my question is can I use the HP with my new computer even though I don't have the software CD for it?