Print server via UDP

Hello,
I would like to ask you for a help. I need to program in C print server which is based on connectionless protocol UDP. The problem is that I am not experienced in programming network applications, I can help myself with some other answered questions on this forum about network apps in C, but I am not able to find anything which explains how to program UDP print server. Can you tell me, please, any resources which explains this?
Thank you very much!

Chapter 21 of Richard Stevens "Advanced Programmining in the UNIX Environment" discusses communicating with a network printer and includes code for a working example.