Are these two computers actually physically one computer? I'm not sure I completely understand the question other than it seems like you simply need to setup the printer in Linux. If it's physically attached via the USB cable, then you will set it up as you would any other printer (assuming it is supported of course). If it's not physically attached, and the printer is not a network printer AND you don't have a Windows Print Server (ha!) setup on Windows 2000, then you will need to get it connected some how.
From there, you may want to have a look at: