I believe this is a job for network inventory software. Your printers are working via print servers and thus I suppose they are network printers with assigned IP address. Then you can get alerts when printers MAC address change. Unfortunately though I can imagine how to code such an application, I have no practical experience with any such existing software.
Take look at this, it does a lot more but you may find something more suitable yourself:
HP Web Jetadmin
http://www.hp.com/united-states/web-jetadmin/index_f.html
http://www.spiceworks.com/free-pc-network-inventory-software/
http://www.printeradmin.com/print-management-software.htm
Actually it would not be very difficult to code such an application: you will have to list all printers on printserver, track their MAC addresses and raise alarm (e.g. by e-mail) when MAC address changes.
If you use this script as a base:
http://www.michelstevelmans.com/powershell-print-server-inventory-script/
and then you add Get MAC from IP like this:
http://www.neolisk.com/techblog/powershell-getmacaddressofanyremoteip
you should get list of printers with their respective MAC addresses. If you compare 2 CSV files you get the changes and you can process them further - e.g. remove the printer from print server.
There is also an answer with code on this server that might be interesting:
Powershell scan for network attached printers
Without doing any scripting I doubt it is possible in Windows Server.