I don't think that there's any easy answer to that question.
But first, what would you like to accomplish with the motors? If your goal is to experiment with them in order to learn stepper motor basics, then you can have a lot of fun with them. If instead you would like to accomplish something ambitious, then it's a bit more of a challenge.
If you still have some of the other parts and pieces from the printer, then you may be able to come up with some clues from that. For example, you might be able to figure out the approximate power supply voltage and current that the printer used to drive each motor, even if you have to use indirect means such as figuring out the maximum voltage ratings of related components such as electrolytic capacitors, or looking at wire gauges, printed circuit board circuit trace widths, markings on transformers, fuses, and the like. Unfortunately, though, in order to do that, you would need to have at least some basic electronics knowledge. If you're interested in getting that knowledge, then I (and others, probably) can suggest some great introductory books to get you started.
If you can't get any guidance from the printer circuitry, then there are some other things that you could try, but those things would also benefit from having some background in electronics.
You could start out with some simple steps (pardon the pun) and measurements, and then look for info about motors of a similar physical size and build, with the hope that what you have is truly similar to those.
During your search, even though many motor parameters are standardized across multiple vendors, you may even identify some physical features, such as color, shape, and the like that tend to indicate that a particular motor was manufactured by a specific manufacturer, and then go from there.
For example, a good place to start is by counting: how many wires are coming out of the motor? Typical motors may have 4 wires or perhaps 5, 6, or 8 wires. Also, make note of the color of the wires, in case that may provide some clues as well.
Based on the number of wires, you can do some resistance tests with a multimeter to separate the wires for one winding from the wires of another winding. You can also look at the specs for motors with similar physical characteristics to see how the winding resistances that you measured compare with those specs. That method is not guaranteed to work, nor have I actually done such a thing, however on paper at least it would appear to be a promising approach.
Once you think that you have the specs for a similar motor, you could try further measurements to verify that your mystery motor is indeed similar or identical to the specs that you found (but such measurements would be more complicated to perform - for example, it's not usually a trivial task to determine the inductance of a motor winding or the holding torque of an energized winding).
Or at that point, based on what you have learned so far, you could try either assembling a suitable DIY motor driver or buying an off-the-shelf driver, to see if you can get the motor moving.