How to print over the internet in windows XP?

How to print over the internet in windows XP ?

I am looking for a solution to print over the internet from office A PC which is behind a proxy server to a printer at office B where there is a DSL router(w/static IP) with a built in print server and the printer is hooked to the print server by USB, Is there a way to send the print jobs over the net from office A to office B using the router on office B side without a PC.