The best-documented scheme is the one used by Xerox DocuColor printers, which the EFF decoded in 2005. Each colour page carries a grid of 15 by 8 tiny yellow dots, repeated across the whole page with slight offsets. Read as binary, the grid holds the printer's serial number, the year, month and day, and the hour and minute of printing, plus parity bits to catch reading errors. The EFF notes that the clock may be set to UTC or simply be wrong (EFF DocuColor decoding guide). Because the pattern repeats, cutting off a margin or a corner does not remove it.
According to the EFF's 2005 research, the codes were developed with manufacturers at the request of the US Secret Service to trace counterfeit banknotes. Distributors can keep records of who bought which serial number, so a decoded page can lead to a buyer. Xerox told the EFF it only identifies suspected currency, but the EFF found no law limiting how the codes are used (EFF white paper). In 2015 the EFF wrote that documents it had obtained under the Freedom of Information Act suggested that all major colour laser makers had secret agreements with governments, though it could not confirm this (EFF list). In 2017 it added that the US is not the only government involved (EFF, 2017).
Other manufacturers use different dot layouts. In 2018, researchers at TU Dresden published an improved method for extracting the dots, decoded further pattern information, described a pattern that had not been documented before, and released the DEDA toolkit (see tools). The EFF also reports, from documents it obtained, a newer generation of tracking that apparently works by slightly rearranging dots the printer was going to print anyway rather than adding new ones, so not every code is visible even under magnification (EFF, 2017).
The 2017 Reality Winner case
In June 2017 The Intercept published a scan of a printed NSA report that a source had mailed to it. Shortly afterwards, Errata Security showed that the yellow dots on the published scan decoded to a printer serial number and a print time of 9 May 2017 at 6:20 (Errata Security). NSA contractor Reality Winner had already been arrested. She pleaded guilty and in 2018 was sentenced to 63 months in prison (Wikipedia summary with sources).
The dots made headlines, but investigators had other evidence. According to the FBI, the pages in the scan looked folded or creased, which suggested they had been printed and carried out of a secure building. An internal audit showed which few people had accessed the report, and her work computer had been used to email The Intercept (Vice, Wikipedia). The EFF points out that the affidavit behind her arrest did not mention the dots at all (EFF, 2017). The lesson: access records and print logs often give a person away before anyone examines the paper.