A good thing for you to do would be to study the information at
http://www.cs.uiowa.edu/~jones/step/ to get a better understanding
of stepper motors, and controlling them.
What you do next depends on a number of things. First what
specific printer did those motors come from? Are they all identical?
A six wire motor could be used as UNIPOLAR or BIPOLAR.
Few motors from laser printers are powerful enough to do any real
work without a lot of extra gearing. One exception are motors from
HP Laserjet IID & IIID printers, these are around 100 Oz. Inch motors.
They make a decent entry level motor.
What is the size of the machine you wish to eventually build and what types
of material do you plan to use it with?
What is your experience with electronics? Have you ever worked with designing
your own circuits for anything? Can you Identify electronics components?
Are you comfortable with soldering electronics components into a printed circuit board?
Depending on these factors and a few others, you could purchase pre built controllers,
kits to build controllers from, or you could build your own from plans and schematics
linked from postings on the CNCZone.