You need something like a Color Munki from X-Rite. It's pretty straightforward. First you calibrate your monitor - the device hangs in front of your monitor while it's software produces a series of color swatches that it measures. This generates a color profile for your monitor.

Then with the monitor profile in place you calibrate your printer: It prints a series of color swatches on an 8.5 x 11 piece of paper. Then you scan those in by running the device over the swatches. It then prints another sheet to refine the profile. You have to do this for each different paper you are going to use.

Combine this with soft proofing in your post processing software for the color profile for that printer/paper combination and you can get really excellent results without a huge number of test prints.

Before you tell me not to listen to this Tony guy let me explain. He has the controversy topic of crop sensor which caused a lot of disagreement but I don't want to talk about that. His latest claim that ISO is fake and I email him asking him to do a test of his cameras and see if they conform to the ISO standard and heard nothing back from him.
I don't see how ISO is fake because.
1. The ISO organization is real and based in Switzerland.
2. There is the ISO standard for digital still cameras and the latest is ISO 12232:2019 published Feb 2019.
3. Unless you test the cameras against this standard and they don't meet the standard then you can't claim that they are fake.

Your printer program probably has sliders that is the key as is the viewing light temperature.

Rember that your monitor radiates light and your print image absorbs light. The monitor can be calibrated to look close to the actual object just using the built-in calibration programs or wasting money on calibration gadgets. [I use paint color chart photo and the actual color chart]

I print the image and compare... humm... reds are a bit pale... OK... I use the print program sliders to tweak and print again... eventually, I have my settings. I record them just in case a W-10 update eradicates all my passwords and setting [oops irritation is showing]. Then I look at my print in the living room where the bulb is "warm" oh,oh, looks different than in my computer area where the bulb is a 5200K ... yes, the perception of the printed image changes with the light where the image is viewed. Then again the visual memory of what the images you photograph fades... you and others do not notice anything that is not a significant difference... Few people go to the trouble or are capable of calibrating the end result, the eye/brain combo.

Lighting:
https://blog.lexjet.com/2014/06/30/finding-the-best-lighting-for-color-calibration-and-print-evaluation/

I just go to Walmart and get bulbs marked as 5200K That is close enough. OOPS! wall color... my walls for viewing are ceiling white... with 2 oz of white pigment added... yep Valspar [surly others too] allows tinting so tint WHITE.

Yes, the print will still look OK in your living room with warm 3200K and light green walls. You will know but others will not. If you go to a consular and complain about the fine points of the color of prints of a nude when viewed in different rooms with different color walls and light bulbs ... well, then you will be labeled as an excessive compulsive or as Trump would diagnose ... a "real nut job."