It is a usb 2.0 interface, but the question in my mind is this has almost got to be something wrong with the printer driver or some other hardware software conflict with the individual computer.
But first step in my mind, would be to call Canon USA tech support and ask. I checked that web site for common problems, but that reboot required is not listed.
Meanwhile, what is the OS on the computer, have you tried removing and then reinstalling the drivers, is the printer networked, and information of that type would help someone on this forum who might have a clue on what is wrong.
And have you tried a different USB 2 cable?
But my best working theory is that when you ask the printer to print, its tosses the print job data into some sort of print que that your computer can't access until you do a reboot. Once it reboots, it finds the data and executes the print job.