If the printer is on a Linux machine with an active network connection and is set to be shared, then on the other machine go to the main menu/system/administration/printing. Choose new printer, and follow the wizard.
If the printer is on a Windows machine you have to have Samba installed and configured on the Linux machine to share it.
I'm living in an age that screams my name at night
But when I get to the doorway there's no one in sight