|If it's a network printer, you connect it to your switch/router, manually assign it an IP address in your subnet and then use the "Add Printer" wizard in windows.|
If it's not a network printer, physically connect it to one of the computers with a USB/Parallel cable and then click on my name above in my response and read my "how-to" guide titled, "Installing a Network Printer: version 2" for instructions on how to connect to it from the other PC.
It matters not how straight the gate,
How charged with punishments the scroll,
I am the master of my fate;
I am the captain of my soul.