> "[...] we're all forwarding port 9100 or 631 to our printer to allow ourselves to print from outside the network, which sets up an HTTP server at that address open to the internet. All it takes is for somebody to put the appropriate GET request in [...]" > "Both of our printers have public IP addresses" It looks like the printer are publicly accessible, and some automated tool (nmap?) is just scanning them for vuln…
When nmap scans port 9100 it doesn't send anything (at least as of nmap 6.00 using -sV). It is probably a higher level vulnerability scanner, possibly metasploit, using nmap to discover open ports and then probe deeper on its own.
--allports (Don't exclude any ports from version detection) .
By default, Nmap version detection skips TCP port 9100 because some
printers simply print anything sent to that port, leading to dozens
of pages of HTTP GET requests, binary SSL session requests, etc.
This behavior can be changed by modifying or removing the Exclude
directive in nmap-service-probes, or you can specify --allports to
scan all ports regardless of any Exclude directive.