An annoying error at the best of times, and normally related to actual permissions problems in the registry, the file system (spool directory) permissions, or a problem in the driver itself.
But, and this is the hard information to find until this blogpost becomes more Googable, this problem can also happen with newer printer drivers on non NTFS PC’s. In other words, converting from FAT32 to NTFS is all you need to do to fix the issue.