You will find the above as follows:

Using Pacifist, open the OSinstall.mpkg
Once that is loaded you will see a list of "Contents of ....." entries.
The one you are looking for is COntents of AdditionalEssentials.pkg (yes, that's all one word)
Open it, then Applications, then Utilities and your will find Printer Setup Utility.app toward the bottom of the list.
Highlight it and click Install at the top of the Pacifist window