Aaron Silber just rediscovered this Citrix tool. Very clean tool, no installation, just launch and away you go. It gives you a list of all of the Printer Drivers installed (you can choose to change to a different server) and then you can choose to delete any of them.
Print Detective is an information gathering utility that can be used for troubleshooting problems related to print drivers. It enumerates all printer drivers from the specified Windows machine, including driver specific information. It can also be used to delete specified print drivers. It allows for log file capabilities, as well as providing a command-line interface
Although very useful in fixing Citrix printing driver issues, also helpful in removing print drivers in general. There isn’t an actual dependency on Citrix. Windows 7, 2003, 2008 and XP are all fair game!