Sharing Printer? Networking?

I have three desktop computers in my home. None of these computers are
networked. All the computers are connected to the internet via a d-link 624
router and d-link dwl-520 wireless cards.

I would like for my computer (using a wireless card to access internet) to
be able to print on the printer that is attached to the computer in the
office (also using a wireless card to access the internet). The other
computer is attched to the router. (if that matters)

The computer I want to print on and the computer attatched to the router are
running Windows 98 SE. My computer is running Windows XP pro.

Do I need to set up a network to be able to print in the office or is there
another way to do so? I wouldn't mind networking the computers if it is
related. If I need to get networking help I can post something in the
networking forum unless someone can help me here.

Thanks,
td48sweep