One instance of NPrinting can support both QlikView & Qlik Sense connections. Qlik Sense support was introduced in version 17.1 but I strongly recommend version 17.3.
NPrinting and Qlik Sense on the same machine is not supported.
For the supported versions (QlikView, Qlik Sense, Browsers, OS etc.) and other requirements please see the online help. I would start here and keep clicking Next Topic when done reading each page: https://help.qlik.com/en-US/nprinting/17.3/Content/DeployingQVNprinting/Before-you-install.htm
HTH - Daniel.