FULL PRODUCT VERSION :
java version "1.8.0_101"

ADDITIONAL OS VERSION INFORMATION :
macOS Sierra 10.12

A DESCRIPTION OF THE PROBLEM :
When first attempting to print from MATLAB on Sierra, a dialog appears saying
"There are no properly configured printers on the system". After opening the Printers & Scanners panel in System Preferences, MATLAB is now able to find the configured printers.

This is also reproducible using the attached Java code.

STEPS TO FOLLOW TO REPRODUCE THE PROBLEM :
javac TestPrintServiceLookup.java
java TestPrintServiceLookup

This may be more likely to reproduce immediately after a reboot, before opening the Printers preferences or successfully printing from another application.

EXPECTED VERSUS ACTUAL BEHAVIOR :
EXPECTED -
PrintServices found: 1
(or more)

ACTUAL -
PrintServices found: 0

REPRODUCIBILITY :
This bug can be reproduced occasionally.

---------- BEGIN SOURCE ----------
import java.awt.print.Printable;
import java.awt.print.PrinterException;
import java.awt.print.PrinterJob;
import javax.print.PrintService;
import javax.print.PrintServiceLookup;

public class TestPrintServiceLookup {

    public static void main(String[] args) {
        PrintService[] printServices = PrintServiceLookup.lookupPrintServices(null,null);

        System.out.println("PrintServices found: " + printServices.length);
    }
}
---------- END SOURCE ----------

CUSTOMER SUBMITTED WORKAROUND :
After opening the Printers & Scanners panel in System Preferences, MATLAB is now able to find the configured printers.