depending on the printer if its wireless you can connect the printer to your wireless network so that all computers on the network can use it or if it has ethernet input on it you can connect the printer to your router and then access it via the router. your best bet is to look up user manual for your printer
If this isn't a network printer, you will need to install it on a single computer and enable file & printer sharing on that computer. Then you can set the printer to "shared". This computer will need to be on anytime any computer tries to print to it.