You can find "UFRII/UFRII LT Printer Driver for Linux v2.70" for Canon i-SENSYS MF4010 at
It is compatible with Canon i-SENSYS MF3010. Unpack the zip file. Install the packages compatible with your distribution, the install the printer using CUPS as you would normally do.
Unfortunately it is non-free software, so the printer is not recommended if you are out to buy a new printer.
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As scanner MF3010 works with Sane 1.0.24.