The drivers for this printer are installed using the Windows Update feature present in your operating system. Connect the device and power it UP, then go to Start > Settings > Backup and Security > Windows Update. Make sure that you are connected to the Internet because files will be downloaded from the Microsoft's official servers.
I am recommending this way because on the HP Support website, I've seen the drivers for Windows 8.1 are installed using this way.
Another solution to install HP Deskjet 5550 Series in Windows 10 is to download a previous driver, disable Driver Enforcement and then proceed to the actual installation.
To disable Driver Enforcement in Windows 10, follow this path: Start > Settings > Update and Recovery > Recovery > Advanced Startup > Restart > Troubleshoot > Advanced options > Startup Settings > Press key 7 > Restart.
Access the following page to see the exact process when you want to install drivers using Windows 10.