Client Redirected printers are not available within the session while using HTML5 Receiver.
Use Citrix Workspace App for windows instead of the HTML5 Receiver.
Alternatively, configure the VDA to use Citrix PDF Universal printer driver
The below article explains on how to configure the Citrix PDF Universal printer driver
https://support.citrix.com/article/CTX230055
https://www.citrix.com/blogs/2018/06/05/enhanced-printing-experience-with-citrix-receiver-for-html5/
Due to security restrictions imposed by browsers HTML5 will not be able to populate local printers inside session.