Calibrating Printer

How can I print photos which appear closer in color to that shown on my iMac screen?

I use a Kodak ESP 3200 AOI printer and would like to know how to calibrate it so that the printed colors are closer to the colors of the photos on my iMac screen.

Also, do I need to calibrate my iMac? If so, how do I do that?

I know my printer is not professional and it is an ink jet and not a laser printer and understand those two things make a difference also.

Thanks for your help.
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Vernon