You can find step-by-step instructions for hot-plugging devices and adding serial devices, such as printers and modems, in the following guides:
Add a disk that is not hot-pluggable – Setting Up ZFS on Disks or Setting Up Disks for ZFS File Systems
Hot-plug a SCSI or PCI device – Performing SCSI Hot-Plugging Operations or PCI or PCIe Hot-Plugging With the cfgadm Command
Hot-plug a USB device – Managing USB Mass Storage Devices
Add terminal services – Chapter 5, Managing the System Console, Terminal Devices, and Power Services in Managing System Information, Processes, and Performance in Oracle Solaris 11.4
Add a printer – Configuring and Managing Printing in Oracle Solaris 11.4
Secure a device – Securing Systems and Attached Devices in Oracle Solaris 11.4