HP Laserjet 3200 refuses to print

I have an Airport Express, a PC laptop, and a iMac G5. I also have a HP Laserjet 3200 connected to Airport Express. With a PC laptop, the printer has absolutely no problem printing. However, with an iMac (running 10.4.3), the printing doesn't work. Whatever I try to print, it spits out texts starting with "%!PS-Adobe-3.0... %RBINumCopies: 1...". I assume that Macintosh is trying to send PostScript command to the printer, but the printer doesn't understand it as such...
From internet, I do have Foomatic/hpijs driver for HP Laserjet 3200, and I can print via the driver. However, given choices, I'd rather not use that driver, as the printed copy looks horrendous.
I doubt I have a weird configuration... so what am I doing wrong?
iMac G5   Mac OS X (10.4.3)  

Looking from other posts, there are other users with similar problems (not with the same model but the problem description sounds identical). Are there solutions to this without having to use HPIJS?

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