A printing system capable of concurrently processing a plurality of job streams and including one or more marking engines and multiple print media destinations is controlled by a controller that includes a jobs scheduler for determining a schedule for processing queued print jobs using the plurality of concurrent job streams. The job scheduler determines the schedule using a method including: determining a utility function dependent at least upon user preference weighting values, a system model of capabilities of the parallel printing system, and the schedule of the queued print jobs; and optimizing the utility function respective to the schedule of queued print jobs.