Apple released this package on their website on November 14, 2013: Samsung Printer Drivers v2.6 for OS X, but the Samsung ML-2010 is unfortunately not included in this list of printers.
The Samsung ML-2010 worked perfectly in Leopard and Snow Leopard, but a driver is not available for Mavericks.
Upon checking the Samsung website. they offer a mac driver for the ML-2010, but it's only compatible up through OS X Lion (10.7).
When I tried to download this mac driver and install it, an alert message popped up saying "Samsung SPL2 Installer.app" can't be opened because it is from an unidentified developer. Oh well, Apple and/or Samsung tied some knots here.
So I thought I was stuck and that my Samsung ML-2010 printer was now incompatible since I had upgraded to Mavericks.
I remembered that I had Parallels Desktop on my mac, which can use Windows compatible peripherals. Parallels Desktop 9 works on Mavericks and I was able to print from it after installing the "universal Samsung driver" on my virtual Windows XP machine from their support page for the Samsung ML-2010 printer.
It stinks that the ML-2010 printer is not natively supported in Mavericks right now, but maybe someday Samsung will release a new driver. Until then, just remember that Mavericks was free and that most OS X upgrades are $20-30 depending on when they are purchased. Parallels 8 is available for $20, so Apple's freebie offsets the $20 you will have to spend to use an old Samsung printer if you don't already have Parallels.
Parallels Desktop 9 is available on Amazon for $60, or you can get Parallels Desktop 8 for just $20 and the virtual Windows machines will still run in Mavericks, according to the Parallels blog.
If you buy Parallels Desktop 9 in a retail store, it costs $80.
