You can print from a remote computer to the printer(s) connected to the main computer.
The main computer has to be on, unless you get a router with a dedicated printer port.
Any router will do if the main computer is on.
You add printer on the remote computer as you would with any setup, and select network printer.
Choose your brand and model printer. The proper drivers will be installed.
Then just print as you would on any computer.
Just remember the simple things, like turn the printer and the remote computer on. I use this method all the time.