InDesign CC is able to impose pages and print foldable spreads to the Xerox 7835. This is useful for creating 5.5×8.5 bookelts from 8.5×11 paper, or an 8.5×11 booklet from 11×17 paper folded in half.
For a 2-up saddle stitch, you will need a total number of pages in multiples of 4, or example, 4, 8, 12, 16, etc. pages. If your booklet falls short of being a multiple of 4, you will need to add more pages, either blank or with additional content.
The InDesign File>Print Booklet… command will automatically rearrange individual pages so that they print next to the appropriate page in a printers spread. For example, in an 8 page booklet, page 1 prints to the right of page 8, page 2 prints to the left of page 7, page 3 prints to the right of page 6, and page 4 prints to the left of page 5.
Options in the Print Booklet… and Print Settings area need to be chosen carefully, so that you achieve the proper orientation, so that both sides of the paper print in the same direction, so that you leave room for printers marks and bleed, if needed, and so on.