How do I set a printer to serve 2 computers through a router?

I have a SMC Gateway Router and 2 computers connected to it with RJ-45 cable. They are (1 iMac + 1 PC) 150 feet apart both computers are wired to the router. I also have a Canon Pixma MP 560 Multifunction Inkjet printer that has the capability to be connected both wired and wireless. Right now it is only connected to the iMac via a USB connection as all 3 (router, iMac and printer) are on the same workstation.
I would like a detailed explanation as to how to connect the printer so it could also support the 2nd computer a Windows PC which is located on the floor below. Can I do that through the wired router too?
If not possible, I also have the capability to connect wirelessly although I would prefer to use the wired connnections.

The PC has a Belkin USB 2.0 Network Adapter for wireless connection; both SMC Router and Belkin USB adapter are 902.11 N capable

I would appreciate receiving help preferably detailed and in layman terms as I am not too versed on these tech issues.

Thank you kindly
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More about printer serve computers router
  1. Here is one solution by sharing the printer on you MAC.

    the other would be wirelessly refer to your manual.

    the third would be a USB print server.
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