To embed double-quotes within a double-quoted string you need to escape them. Since you are not using variables, it is easier to use a single quoted string e.g.:
CMD.EXE /C 'printui.exe /if /b "Test Printer" /f C:\inetpub\wwwroot\ftp\Prdrivers\HP Universal Print Driver\pcl6-x64-5.7.0.16448\hpbuio100l.inf /r "IP_172.16.2.24" /m "HP Laser Jet P3015"'
If you ever need to use PowerShell variables inside this string, then you will need to switch back to double quotes and escape the necessary DQ characters e.g:
CMD.EXE /C "printui.exe /if /b `"$PrinterName`" /f C:\inetpub\wwwroot\ftp\Prdrivers\HP Universal Print Driver\pcl6-x64-5.7.0.16448\hpbuio100l.inf /r `"IP_172.16.2.24`" /m `"HP Laser Jet P3015`""