Your router may have a Prtinter output. If not look into a wireless Print Server. Check Tiger Direct.
I know you can do it, because mine is set up that way. After hours of frustration trying to do it myself, I finally had some kid set it up for me, lol. Just to show you how ignorant I am about how it works, I thought you hooked up the printer cable to the router?? Okay, I'll shut up now.
Is the printer hooked to a wired PC? If so, you can share the printer on the wired PC and connect that way. If not, but the printer has a cat5 jack, it can be plugged into the the router as long as the internal printserver is configured for DHCP (most are by default). If none of the above, you will need a wireless print server with USB port for the printer.
This may or may not help. Read thru a few of the posts , it covers what sounds to be your situation or close anyway. Good luck.
http://www.totalchoicehosting.com/forums/index.php?showtopic=22737
If you are XP, go to the printer Icon. Right click onit and select SHARE printer.
The printer the computer is hooked to must be powered on and you can also in Network create a network connection to it.
It is really simple with XP.
Anything you pretty much want to do can be done as long as you are willing to pay for all the add on goodies you need.