Enable file and printer sharing on all the computers, and then share the printer by right-clicking on the printer icon in control panel printers, and selecting "sharing".
You'll have to make sure that all the computers are configured with the same workgroup, and you can check that by right-clicking on my computer, selecting properties, and choosing the "computer name" tab.
After that, to print all you should have to do is use the my network places folder to browse the workgroup computers, or alternately use the add printer wizard on the guest computers, select the add network printer option, and enter in the address. The address will be something like \\computername\printername
For example, my computer is named "mercury", and my printer is shared as "hpdj952c". So to find that printer on the network, I can browse to the computer \\mercury and find the printer, or directly link to it when asked for the computer name by entering \\mercury\hpdj952c
It's really much easier than it sounds but if it's your first time, you may want to run the home network setup wizard to get started. That should at least let you enable file/print sharing and set the workgroup name.
