you can setup a print server in windows or whatever os you use to be available to all other machines - check the OS documentation
a physical print server is cheap and can be plugged in the back of a printer - look for them at cdw
if you need a router- an old pc(pentium200mhz etc) and two nics is cheaper than buying a router- what is your isp connection? if you are using a t1 etc you might need other equipment
a print server is just a device that has physical access to a printer which in turn shares that access with other entities on a network
there are many ways to setup print servers and most large vendors have their own versions- ibm-microsoft-apple
there are some standards which transcend operating systems
www.google.com