Give us alittle info on your setup. Is it a network attached printer or is it just hooked to one of the computer's on the home network? If it is then here's a quick look at what you need to do.
Run the homenetwork setup wizard and make sure the file and printer sharing options are checked. Then after you can connect to other computers shared documents in network places, All you need to do is add the networked printer to the other machines that it isn't directly hooked to. In control panel/printers and other devices, click add a printer and run the wizard the first option is local or networked of course select network printer and if the printer is connected (and installed properly) to one of the computers on the network then the wizard will detect the printer and install the drivers for you.
I hope this is what you wanted to know.