Yes, you need specific drivers for OS2 and if the printer is a WinPrinter, ie dump printer using windows as a printer engine then you won't get it to print from OS2. If it not a win printer you might be more lucky.I would recommend you to take a look at IBM Device Driver Pak, click here. to get there.
I don't know how lucky you'll be with the Z32 printer but the Canon you should get to work. Even if you don't find a 100% matching driver you usually can choose the closest matching one.