How can I add printer: HP Laserjet P2055d via a USB cable, to my Windows 10 Pro computer successfully?

you need to download the drivers from HP web site.
here is athe direct link to the drivers.
https://ftp.hp.com/pub/softlib/software13/COL40842/ds-99374-23/upd-pcl6-x64-6.9.0.24630.exe

Have you tried the Universal Driver from HP's support site? Some installation instructions are in the Release Notes

If windows 10 cannot find and install a driver for this printer you must like other people have mentioned you need to go to the HP site to download drivers for this printer. When you install drivers for HP printers from the HP website you MUST unplug the usb cable from the printer, start the install of the printer drivers then when prompted to plug in the usb cable. The reason for this is windows tries to install its own version of the driver and this will interrupt the HP software from installing the software and you may get an error message.

OS build version?
Commonly hp drivers are included with Windows.
The printer might be too new, or too old
The suggestion above to get the HP software that would install software along with drivers..

I agree if they are too old often even the hp website may not have windows 10 drivers for the printer if the printer is too old but often generic universal drivers may work. as mentioned already. by sean and hdhondt

The link I posted above is for the 64 bit printer specific drivers. It is for win. 10 and this model

i would also start with the printer disconnected, as suggested by Robert

Downloading the drivers will not work, you’ll have to click the add printer button from within windows 10 and allow it to look up and load the drivers for the printer, believe me I’ve tried just last week, it took hours just wouldn’t load, always saying it can’t find the printer that was directly connected to it.

Windows 10 only used signed drivers so it will only load those found in its store. Windows 10 sand boxes everything so that you cannot compromises the core operating system.

I have not forgot about you!  A co-worker is working from home, and remoting into the computer to access client documents.  I will try your recommendations tomorrow (Tuesday) morning.

I just added an hp printer over the weekend by unplugging the usb, installing the drivers from HP (they are in fact signed with a code signing certificate) and then the installer prompted me to plug in the usb cable. Easy peasy 

Thank you Sean.  I will try it first thing in the morning.

note that- if you tried installing with the printer connected, and failed, you may have to uninstall the printer software BEFORE trying again

Success!  Requiring 2 solutions (HP Software and HP  DOT4 x64 driver)

1.  I downloaded and installed the HP software Sean recommended.  Then I plugged in the usb cable.  The printer did appear in "Devices and Printers", but after a few minutes, the status was "driver is unavailable".  I removed the device from the printer list, and disconnected the usb cable.  Note:  No HP software appeared in the "Programs and Features" in "Control Panel"


2.  I downloaded and iinstalled the HP DOT4 driver x64 that MASQ recommended..  

3.  I ran the "install" software that Sean mentioned above, clicked on install a new printer,   Eventually I was given a choice to connect Wired, Wireless, or USB.   I connected the USB cable.  The HP software detected the HP printer and allowed me to choose a USB connection.  When i connected the USB cable, the printer was detected and the driver installed correctly.  Printed a test page successfully.

 
Thank you very much for your help and patience.

When you install just the drivers and not a full application it will not appear under programs and features. You usually unnistall the driver by right clicking on the and click remove device, and you can remove the whole driver package by going into" print management"  and go to the following folders to delete old drivers there:  All Printers, and All Drivers. 

Thank you Robert . . . that is very helpful to know!