The easiest way is to use MS file and printer sharing. Then share the printer. This works most every time, the only hold back is that the PC must be ON to print.
The other option is to buy a print server, these are a hit an miss depending on your Printer. HP has there own print servers and work well, but expensive. The best way is to see if a nic or wireless card is available to network yours. Or buy a network printer, they can be had for around $150.