Disclaimer: I have only used this for wired printing and have not tested for wireless.
Axiom119's advice worked for me with Mint 15. Mint 13 was another story.
For Mint 13, I downloaded a driver atAxiom119 wrote:I have this same printer. I was able to get it to print using the Dell 1355 Foomatic/foo2hbpl2 driver in Mint 15. I then had to go into the printer properties and change it from monochrome to color to have it print in color.
http://www.support.xerox.com/support/workcentre-6015/downloads/enus.html?operatingSystem=linux&fileLanguage=en
The Workcenter 6015 driver worked for my desktop which is 64 bit. It did not work for my laptop which is 32 bit. There is probably another reason that it worked for my desktop and not my laptop but remember that I am still pretty much a newbie.
For my laptop, I installed Mint 15 and then used the Dell 1355 driver.
Imo, this is more of a work around than a solution but I can print now.