Windows 10 print queue disappears when printing from windows 2012 rdp session

Which printers did you try?  Some printers will not work as redirected printers on a remote desktop session.

HP has a document that lists the printers they support in Citrix and Remote Desktop Services:
http://www.hp.com/go/citrix
(the URL redirects you to the PDF document)

Are those printers on the list?

The current one is an Officejet 5740 which is listed on MS as Windows 2012 certified. We tried three so far. The jobs do get sent to the local printer, sit in queue.. then disappear.

Even though the printer is Server 2012 certified, that doesn't mean that it will work as a redirected printer in Server 2012.

HP doesn't support the use of host-based print drivers as redirected printers in a remote desktop session.  In general, DeskJet, OfficeJet and PhotoSmart printers use host-based print drivers.  If you check that document I posted, you will see that very few OfficeJet printers are supported. Unfortunately, I don't see that printer listed so it doesn't look like HP has tested that printer.

The workaround is to install the printer on a network print server & have users print to that shared printer.

Very few printers will actually not work via RDP.  Manufacturers often don't fully test, but HP printers should be fine.  Off-brand printers ... another story.

Do you have the appropriate printer driver installed on the local device as well as the server?  Both are needed in order to print.  I'm betting that this is the issue.

Also, check GPOs to ensure that you do not have printing disabled, either via AD GPO or local GPO.

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hdhondt
Experts-Exchange Cleanup Volunteer

JoHarder, that's not entirely true about HP printers.  There's a whole bunch of HP printers that use "host-based" drivers that HP does not support as redirected printers in a terminal server environment.

I used to work for a application hosting provider: we hosted clinical, MS Office & Exchange mailboxes for a fairly large customer base made mostly of long term care facilities.    They would always buy the cheapest laser printers they could get and, invariably, they would complain when we couldn't get them to work over RDP because they were host-based.  We had to institute a hard requirement that any printers intended for use as a redirected printer had to be PCL compatible.  

The HP LaserJet 1000 series of printers was almost entirely host-based.  Even one of the P2000 printers was hosted based (the HP LaserJet P2035), but at least that one was compatible with the PCL 5e printer language so we could use the P2015 or the LaserJet 4 driver so it could be used a local printer for their RDP connections.   HP OfficeJets, DeskJets and PhotoSmart printers mostly use host-based print drivers as well, so they will have the same problem except for those specified as being supported by HP in that document.