Easiest way is to have a printer connected via USB to your pc and:
With XP, go to control pannel, printers and faxes, right click your printer and select sharing and give it a name.
On the laptops, go to printers and faxes, printer and faxes, add a printer, select add a network printer. Browse for the printer on the PC and click ok.
Make sure that your PC with the printer is always on using this method, especially when browsing to add it too your network.
Should be as simple as that, and it works with me. I don't use a wireless print server so can't help you in that way...