How to use HP Laserjet printer firmware update utility on El Capitan 10.11?
https://support.hp.com/us-en/product/hp-laserjet-p2055-printer-series/3662052/document/c02008627

This article from HP describes how you can update your printer firmware with LPR, a Mac/Unix terminal utility. You should not need the firmware update tool to update your printer’s firmware with this method. Best of luck!