No need to domain join the client.
Install the printer driver via WMS and use whatever way you prefer to define the network printer then. This could be a script that you push by WMS or simply define it locally.
To install the driver via WMS or any other management software (that I know of) you would need an installation package. This could be a .exe or a .msi package.
If you only have .inf files then you can install these locally on the client and then use WMS to pull the whole image and push it back to the rest of the clients.