yeah, you don't need samba if you are only sharing between two linux boxes, it's much easier than that!
the tool jstu is refering to is 'printtool' or 'printconf', one of those
just set up a local printer on one using that tool, and then make sure the computers can talk to each other and have appropriate hostnames (in /etc/hosts on each computer) and then use printconf on the other and set 'remote lp queue' and put in the appropriate information including the hostname of the print server and the name of the print queue on the remote printer, and then start lpd on both machines and presto.... shared printer