Is this a home network? Just make the computers both be in the same workgroup, if there's no real reason for them to be in different workgroups.
If you can't do that, try doing start - run - then type in \\machinename or \\ipaddress (the actual machine name or ip address) of the machine with the printer attached, from the want you want to use it from. for example, \\192.168.1.20 - it should show a list of available resources