“Can I install a printer that shows only drivers for Windows XP on a Vista system?”
There’s a really good chance that the XP printer driver will not work on the Vista machine but you never know it could for whatever reason magically just work for you. I haven’t had much success will XP drivers on Vista.
I’m not sure if your installing the drivers from the CD or checking online for the latest drivers. Checking online is the best way to be sure you have the latest drivers. If your printer is not too old the manufacturer should have new Vista drivers available for download. But if that printer is kinda old than they probably no longer support it.
Microsoft has a Vista Hardware Compatibility section here. They also have a basic guide on how to install drivers on Vista here.
If you manage to get it working let us know what you did in the comment section.