I love the innocuousness of this question.
There is no simple guide. You will need to learn about ICC colour profiling.
But in a nutshell, firstly your monitor must be calibrated and a profile constructed. While there are hardware calibrators for this, the monitor calibration in OSX should be sufficient. Go to displays>Colour and click on advanced and follow the instructions. That will create a profile for your monitor.
Your printer will have probably come with a profile that it would have dropped onto your system. But a printer's profile will depend on the paper it's being printed on.