Printing over the internet

Here is the situation:

Two private networks in different physical locations using W2KPro exclusively. IP address at both locations is static from ISP.

Machine in private network A uses Timbuktu to connect to machine in private network B. The system that is connected to in network B has an internal static IP address (port forwarding set up for Timbuktu Pro). Systems in network A have reserved IP addresses internally.

The person accessing the system in network B from the location of network A would like to print locally. However, Timbuktu does not support remote system to local printing.

So, I set up file/printer sharing on network A. Forwarded TCP/IP & UDP ports 515, 631, and 9100 to system in net work A with printer attached.

Printing works great inside private network A. The machine in network B can connect to the shared printer folder, but no printers are found. Obviously I am not going about this the right way.

I am aware that this could be done through Terminal Services/Active Directory/Remote Desktop if there were a W2KServer running, but there isn't. I also know that this could be done with a hardware print server, but that's not likely to happen either.

Is there a way to accomplish the task without third party software/OS upgrade/additional hardware/different remote access software? Or more simply, is there a way to access a printer on private network A from private network B using W2KPro exclusively?

Basic layout:

Yes. There is a way.
Just create a VPN through the Internet between both routers (they have to support VPN creation of course).
In that way you don´t even need port fowarding, because both networks can "talk" to each other.

I'll have to take a look at the routers and see. I'm going to guess atleast one, if not both, are not VPN routers though. One is a newer, but cheap, DLink. The other is an older (at least a couple of years) Linksys.

[EDIT]It looks as though they may both support VPNs. I will look into that then.[/EDIT]