After having my previous question answered successfully:
I now need to allow the computers in the DMZ to print to IP printers that are on the regular network. One of them is a Canon (192.168.128.59) and the other is an HP (192.168.128.111). Looking at the print drivers, they are using RAW / 9100.
So far I have tried creating static ROUTEs for both printer IPs...same as was done in the initial setup in the question above. I have also added an ASA dmz rule to allow port 9100.
What else am I missing?