The best way I've found so far, is to install the printer drivers on the laptop as though it were connected directly to the printer(s). Ignore the "Print Test Page" at the end (as you don't yet have a printer to print to!).
Re-boot the laptop and then remove the printers from the Printer Folder. All that will do, is remove the registry entries for the Printers and they will disappear, but the drivers will remain on the machine.
Re-boot once more and then use the Printer Wizard to "Add a network Printer".
You should then find you can browse to the printer and the wizard will sort the configuration out for you.
If you still have a problem, make sure "File and Printer" sharing is installed and that the XP Firewall (if you're using it) allows that service.