Networking printer help... can of worms

[Interphantom]

So my boss needs to me to setup his network at home. Problem is... he has two laptops; each on their own domain to logon here at work. One laptop is for the development domain, and his wife's is for sales domain. To add to the fun, his two computers at home are in their own workgroup. The goal he wants is that all computers can print off the printer on his local network (hooked up to one of the workgroup printers). He tried a printer sharing wireless router, but apparently they don't handle multitasking printers (Hp 3-in-1). So any ideas? I know through Server 2003 you can setup an internet based printer through IPP, but can you do it in XP?

Thanks for any info.