[dwaite]

It's not considered fully RESTful, but it sounds like you are describing IPP, which came out in 1997.

Compatibility marks/certifications like AirPrint (2010) define how to advertise your IPP printer and its features, such as whether you can directly send a PDF. IPP Everywhere is perhaps the most notable open alternative to AirPrint.

[jorvi]

IPP Everywhere and AirPrint are virtually identical AFAIK, it's just that AirPrint uses a slightly different proprietary raster format because Apple is gonna Apple.