Let me tell you how I did

In my house I used to have a 4-port cable+wireless router connected to each room. At that time, I had one computer connected to printer. Whenever I need to print I had to turn that PC on first. Until about a year ago, I went to Fry's and found a print server (also called printer server) made by US Robotic, with 4-port and wireless, all in one, and after rebate it was free. So I bought it. After installed, I can print directly from any PC wired or wireless. The print server has a USB port for printer. The initial setup was a little tricky.