how to configure printer server i mean how to do printer cluster i am looking steps for windows 2008 R2 server

Here is the link to configure Failover Cluster Print server.

https://technet.microsoft.com/en-us/library/Cc771509(v=WS.10).aspx

So 2 printer server should be using shared storage device and how be configured printer roles what about printer queues or printers details? each servers having same printer queue? it supports managed print server? if any settings in printer server for fail over?

The nodes are typically not sharing printers.  Only the clustered spooler resources are sharing printers.   You can have many clustered spooler resources but typically there is one for each pair of nodes.

If you do not already have a clustered configuration for file or SQL or some other resource you should probably not be providing the spooler service.