One the computer that has the printer connected to it. Go to the printers and right click on the printer and share the printer. One the second workstation click start , run. Then type the IP or name of the workstation that has the shared prnter on it and click ok. A new window will open with the name you share the printer as. double click on the printer. If the operating systems are the same, you can just double click on the printer name to install it on you local workstation.
Here is a few screen shots for you. Hope it helps.
http://www.home-network-help.com/share-printer.html