Printing from Terminal Server

I have users at another location trying to use their printers (which are on their machines) to print from Terminal server. I have installed those IP based printers on the Terminal Server, but the users are still having errors trying to print. I have made sure Windows Print mapping is enabled within the terminal service configurations. The printer is a HP 4200. The users are VPNing into my network than using remote desktop to access the Terminal Server. Any help or advice would greatly be appreciated.

Thanks