open the RDP client and select the OPTIONS button then the LOCAL RESOURCES button. Under local devices tick what you want available on the remote machine ( Disk drives, Printers and Serial ports).
It also depends on the printer that you are using and the operating systems for both the local machine and the server. The server needs to have the drivers either inherently or installed.
if you are using a PC A to connect to PC B and want to print out from PC B to a printer connected to PC A. You have to Share the printeron PC A and give PC B rights to that printer. Then when in the remote desktop in PC B install the printer from PC A. You should be able to do this by browsing the network for PC A and the printer share should be listed. Then you should be able to print to the printer on the PC that you are remotely connecting FROM.
if you are using a PC A to connect to PC B and want to print out from PC B to a printer connected to PC A. You have to Share the printeron PC A and give PC B rights to that printer. Then when in the remote desktop in PC B install the printer from PC A. You should be able to do this by browsing the network for PC A and the printer share should be listed. Then you should be able to print to the printer on the PC that you are remotely connecting FROM.
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Remote Desktop Printing