To clear the trouble with printer sharing, you need to locate your printer first. Go to Control Panel and access Printers and Faxes if you're on Windows XP or Hardware and Sound > Devices and Printers if you're on a version of Windows higher than XP.
After you've located your printer, right click it and choose Properties. You will see a window with different tabs. Select Sharing and enable sharing for the printer. From the moment you click OK the printer should be shared across the network. To print from another computer, make sure that the printer and other computers from where you want to access the printer are in the same LAN. If shared correctly, they should see the printer in the Print menu.
Make sure that Windows Firewall or your preferred smart security solution allows printer on the network.