Here are the instructions for Secure Printing to the Sharp Copiers from macOS.

1. After opening the print dialog, select your printer (1).
2. In the center of the dialog menu, you should see a dropdown (2). Select it.

3. In the dropdown, select Job Handling.

4. In the newly changed section, select Hold Only (1) and Main Folder (2) from their respective dropdowns.
5. Enter a 6-digit PIN which will be used to release the job at the printer.

6. Select Print at the bottom.

At the copier.

7. Press the Home Button on the right of the screen.
8. Select Secure Print.
9. Select Main Folder.
10. Select your print job.
11. Enter the PIN you entered above.
12. Press the newly appeared blue Print Now button at the bottom of the screen.