I did install gnome-control-center 1:3.20.2-0ubuntu2 from yakkety-proposed on Ubuntu GNOME 16.10 and confirmed that it now depends on system-config-printer-gnome.
zesty is also fixed now but in a different way (see the changelog in the previous comment) because system-config-printer was merged from Debian.
I did not test the upgrade from Ubuntu 16.04.
I did install gnome-control- center 1:3.20.2-0ubuntu2 from yakkety-proposed on Ubuntu GNOME 16.10 and confirmed that it now depends on system- config- printer- gnome.
zesty is also fixed now but in a different way (see the changelog in the previous comment) because system- config- printer was merged from Debian.