TL;DR: Ditch handyPrint, get Printopia.
I used handyPrint for many years without problems...but as of Catalina, handyPrint seems to have very mixed results. It stopped working on my machines, won't even install. I've even used AppCleaner to completely remove it, restarted, and tried installing the latest version (5.5.0 as of this post). It won't even install.
Downloaded the latest version of Printopia, launched it, and AirPrint started working again. The host Mac still needs to be running, but unlike handyPrint, does not need to be logged in. The Printopia daemon runs invisibly in the background.
Printopia's $20 cost has already saved me over $40 in cussing. Well worth it.