When you need to find a printer or scanner driver, the first place to look is on the Web site of the printer manufacturer. Find their search tool, and type in the name of your model. Failing that, see if you can find their support area, or perhaps something that will lead you directly to downloads. If the menu system is less than crystal clear, the site map may help you on your way.
In the event that this doesn't pan out, try calling the manufacturer's phone support, even if you are out of warranty. The odds are decent that you may find a kind soul to direct you to the appropriate download site, or they may even e-mail it to you. For a shipping and handling fee, some vendors will mail you a disk.
If these leads all fail you, it's time to try a site that maintains up-to-date drivers for download. I'm sure your first instinct would be to simply search for something like "HP deskjet 720 driver," but this usually means wading through lots of sites trying to sell ink cartridges, plus a number of sites of ill-repute. Some of the clean sites will still send you on a merry chase, citing a location for the driver you seek, only to have <i>that</i> place try to bamboozle you somehow.
One of the better sites for printer (and other peripheral) drivers is DriverGuide.com. You will need to sign up for free membership, and wade through a good deal of advertising and opt-in offers, but once you're set up, there's friendly step-by-step help to finding the driver(s) you're looking for.
WinDrivers.com is another safe alternative, but they charge an annual fee. This makes it a better site for an IT professional than a consumer.
Remember: Printer drivers are always free. There's no need to pay for them, despite the offers you may find online. Be cautious, don't visit any unknown site without anti-spyware and pop-up protection, and don't run anything you've downloaded or acquired without virus checking it.

