

ACL’s can accomplish it if that’s your only goal, but there are other benefits of vlans for security and privacy. For example an ACL works at layer 3, so it won’t block other nosy devices on your network from seeing everything else via layer 2 and then reporting back what it finds. VLANs also make it easy to use different security policies for each network if you do any sort of IDS/IPS as I do.
I’ve edited the post to add a note about an outbound rule possibly needed in the printer VLAN. If the printer VLAN is locked down, it could be blocking the advertisement before the UDP Relay gets a chance to see it. This should fix that. See if works for you