To set up Lightroom to print with a printer profile is really easy.
In the Print module, open the Print Job options.
Then choose which profile you wish to use in the Profile drop down menu.
To simplify the dialogue Lightroom hides most profiles by default, so you may need to load the profile you want into the options by opting for the "Other" option offered when you click to choose the profile, then selecting which profiles you'd like offered in the dialogue. It may seem a bit awkward the first time, but it only needs to be done once and thereafter choosing profiles is much easier.