The last time Apple made printers -- well over a decade ago -- there was no iPad, no iPhone, and no Retina displays that could make a digital page look as real as a paper one. In many ways printing isn't as crucial to the average user experience as it once was, but more advanced printing tasks like producing high-quality photos at home are likely to remain for the foreseeable future. We may not need printers as often, but they're not going to outright die in our lifetime.
Apple will likely never get back into the printer business, but could it? I think the answer is yes.
Why Apple should make printers (again)
At a consumer level, printing hasn't been sexy for a long time. In fact, you could argue that printing has never been sexy.