Just upgraded 2012 mac mini to macOS Sierra 10.12. Now when I try to print to a Canon MF-4500, I get an error message (filter failed). I tried resetting the printing system and re-added the networked MF-4500 but I got same error message.
Canon say that they are working on a fix. In the meantime, converting to a TIFF, removing the alpha channel and printing that works. (Just checked and it works fine for me MP640.)