If you share your printer on the PC it is installed on and give it a name you can remember such as 'Epson' for example.
Now on the second PC if you go to add printer and choose the 'add network printer' option and click next you should see the 'Epson' printer you have shared. You may have to double click on the name of your PC to expand the share.
The path for example would be;
\\[name of cmputer\epson