You need to install (if not installed), configure and run Samba server in order to printer from windows to a linux connected printer. I am, however, not sure how Xandros package management works so you can first find out if samba is installed.
Please be as detailed as you can.
There are enormous how-to's available for sample samba configuration. I would recommend you google around for answer. Read some how-to's and get a feel of it. You can then return and here and ask specific config questions.