How do I share a printer from one network to a second PC on separate network?

Okay, I have two networks. Network A has the default gateway in the basement with my main rig attached (not always on). Network B is based on a router on the first floor connected to the gateway by cat5. It has a wired network printer attached to the first floor router (netgear).

I need to figure out how to print from my main rig on network A to the printer attached to network B router.

Ty all for your help and time!
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  1. if you don't require two separate networks, you could convert router B as an access point and everything would be on the same network.
  2. Emerald, unfortunately, that won't work. I dont necessarily need two networks but my cell phone makes calls over wireless and functioning as a repeater makes call quality issues.
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