James, I just installed an Epson Stylus Photo R200 on my XP box. Here's how I set it up.
Applications, Systems Settings, Printing
Enter your root password.
Click New, Forward, pick a short lower-case name, Forward.
Drop down the queue type list and select 'Networked Windows (SMB)'
Click Specify... The funs begins!
On the XP box you'll need to know or look up your Workgroup, PC Network name (for the SERVER field), sharename (that's the name you told XP to share the printer under at the time you said to XP to share it (you DID share it, didn't you?), then in the User name and Password fields, its looking for the user name and password you use to log into the XP box. Fill it all in. It it's good, click Forward. Drop down the list and select your printer manufacturer, look for the exact model (it's not exactly alphabetical all the time), select it, Forward and Finish. Good luck!
p.s. I really hope you find the exact model in the list otherwise as they say "your mileage may vary".