Hello jmogrady,
which printer make and model is it ?
If your device can access the internet /knows the router details, you should be able to select the printer in eg; a phones (Android) wifi settings, or netbook.
I use Hewlett Packard Laserjet Pro 102W , it uses HPLIP driver, I use it wired with a USB switchbox for more than one computer to use it.
Phones I just select it in the Android wifi settings, if the phone is set to use the router for internet.