With Lightroom, you navigate to the "Printer" module. Near the bottom right, there is a group of controls for "Print Job". There is a drop-down next to the label "Color Management" that allows selection of "Printer Manages Color" or an ICC profile. Selecting an ICC profile turns off color management in LightRoom.
However, you also have to enter the print driver dialog to change from Auto to None. This can vary for each printer.
See attachment.